JP2007148648A - Positioning control method, positioning control device and image forming device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To perform reasonable control with suppressed noise by constituting a control system hardly affected by load fluctuation. <P>SOLUTION: The positioning control device for a mechanism constituting a torsional vibration system including a driving-side inertial body connected to a driving shaft and a driven-side inertial body connected to a driven shaft comprises a reference trace generation part 110 including a state trace sequence storage part 130 and an operation quantity trace sequence storage part 120 which store data sequences of state trace and operation quantity trace from an initial position to a target position as reference traces of control, respectively. A feedback control part 140 performs state feedback control to the operation quantity trace stored in the storage part 120 to be laid along the state track stored in the storage part 130, for positioning. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a positioning control method for a mechanism, a positioning control device for a mechanism using a motor in a device having a rotating mechanism that requires high-precision control, such as an OA device and an FA device for carrying out this positioning control method, and The present invention relates to an image forming apparatus such as a printer, a copy machine, a facsimile machine, and a digital multi-function machine that combines these functions.

  In a motor drive system, an elastic body element is often included in a torque transmission mechanism, and a resonance system is configured in relation to the moment of inertia of the motor itself or the driven inertial body. At this time, if the positioning accuracy is not so required, the torque transmission mechanism can be regarded as a rigid coupling, so the influence on the control by the resonance system can be ignored. However, when positioning accuracy becomes severe, high gain control is required to satisfy the specifications, and the upper limit frequency that must be controlled increases. Such systems are no longer difficult to handle with rigid coupling.

  FIG. 1 is a model diagram showing the entire control system of such a motor control system, and the control target part is a two-inertia physical model including a speed reduction mechanism using a timing belt. Each symbol in the figure has the following meaning.

· _{J 1:} drive-side inertia moment · _{R 1:} drive side pulley radius · _{J 2:} driven inertia · _{R 2:} driven-side pulley radius · K: torsional stiffness · D: torsional viscous resistance · tau _1: drive shaft Torque (operation amount)
・ Ω ₁ : Drive shaft angular velocity ・ θ ₁ : Drive shaft angle ・ τ ₂ : Drive shaft torque (load)
・ Ω ₂ : driven shaft angular velocity ・ θ ₂ : driven shaft angle (observation output)
The resonance frequency ω _{O at} this time can be expressed by the following equation.

ω _O = √ (K (1 / J ₁ + 1 / J ₂ ))
If such a system is to be controlled by a classic control method (PID, phase compensation, etc.) as shown in FIG. 3, the control device 100 performs control only with one driven shaft angle variable of the control object 200. An increase in phase delay becomes a problem at the resonance frequency of the target 200, and it is difficult to perform control beyond this. On the other hand, in the method based on the state feedback control, since all the internal states of the controlled object are handled, the state feedback control can be performed while suppressing the resonance in a category where the controlled object can be regarded as a linear system.

In order to realize the state feedback control, it is necessary to know all the state variables. However, there are many cases where the actual control target can observe the state, and the state feedback control cannot be performed as it is. Therefore, in order to realize the state feedback control, a state estimator for estimating the internal state of the controlled object is prepared. At this time, in addition to the manipulated variable U (= τ ₁ ) and the observation output Y (= θ ₂ ), the load torque T (= τ ₂ ) is required as an input to the state estimator, and it is generally difficult to measure the load torque. Therefore, the load torque is set to zero or a constant value for simplicity. However, in any case, a large error occurs in the output of the state estimator due to the difference from the actually generated load torque, which may cause the system to become unstable.

  Therefore, the present applicant has proposed an invention relating to a torsional vibration system control device as shown in the cited document 1. The present invention includes a drive-side inertial body connected to a drive shaft and a driven-side inertial body connected to a driven shaft, wherein the drive shaft and the driven shaft are coupled by an elastic element. In the torsional vibration system control device having the control object, a control unit including a disturbance torque estimator, a state estimator, and a state feedback controller is provided, and each of the driving side inertial body and the driven side inertial body is provided. An angle detector is individually provided, and the control unit receives outputs of the angle detectors and external operation amounts from outside, and outputs motor operation amounts as outputs.

In addition, as a technique related to the torsional vibration system control device, for example, inventions described in Patent Documents 2 to 4 are also known.
JP 2004-180429 A Japanese Patent No. 3081297 Japanese Patent No. 3084675 Japanese Patent No. 3266391

  As described above, in the invention described in Patent Document 1, when the driving-side inertial body and the driven-side inertial body are controlled objects connected by a torsion spring, the driven-side inertial body to which a frictional load is applied is highly accurate. The position is controlled, and the estimated load estimated value is used for state estimation in real time, and an operation amount equivalent to the load estimated value is generated to cancel the load. With this configuration, even when the shaft connecting the inertial bodies cannot be regarded as a rigid body, the estimation error of disturbance torque can be reduced and the control can be stabilized, but it is still not sufficient.

  The present invention has been made in view of such a background, and an object of the present invention is to provide a control system that is less susceptible to the influence of load fluctuations and to enable reasonable control while suppressing noise.

  In order to achieve the above object, the first means is a positioning control method for a mechanism comprising a torsional vibration system including a drive side inertial body connected to a drive shaft and a driven side inertial body connected to the driven shaft. A data sequence of a state trajectory and an operation amount trajectory from an initial position to a target position is stored in advance as a control reference trajectory, and positioning is performed by performing state feedback control along the state trajectory.

  In a positioning control method for a mechanism that forms a torsional vibration system including a driving-side inertial body connected to a driving shaft and a driven-side inertial body connected to the driven shaft, the second means rotates as a reference track for control. The first section from the start to the constant speed and the second section from the rotational deceleration to the stop are divided into two, the first state trajectory and the first manipulated variable trajectory in the first section. A data series and a data series of the second state trajectory and the second manipulated variable trajectory in the second section are stored in advance, and the first section is along the first state trajectory in the first section. The operation amount trajectory data series is generated and state feedback control is performed for the speed. When approaching the vicinity of the target position, the control mode is switched from the first section to the second section. In the second section, Along the second state trajectory Wherein to generate the data sequence of the second manipulated variable trajectory, and performs state feedback control for position, and performs positioning.

  A third means is a positioning control device of a mechanism that forms a torsional vibration system including a driving side inertial body connected to a driving shaft and a driven side inertial body connected to the driven shaft. A reference trajectory generating means comprising first and second storage units for storing a state trajectory and a manipulated variable trajectory data series as control reference trajectories, respectively, and the state trajectory stored in the first storage unit. And a feedback control means for performing state feedback control on the operation amount trajectory stored in the second storage unit so as to follow, and positioning the mechanism.

  According to a fourth means, in the third means, the first and second storage sections are a first data string of a state trajectory and an operation amount trajectory from rotation start to constant speed, and from rotation deceleration to stop. Each of the state trajectory and the second data sequence of operation amount activation is stored.

  The fifth means is the third or fourth means, wherein the feedback control means controls the first feedback control section that performs the control from the rotation start to the constant speed and the control from the rotation deceleration to the stop. And a second feedback control unit.

  A sixth means is the fifth means, wherein the first feedback control unit performs speed-type state feedback control using the first data string from the first and second storage units. Features.

  According to a seventh means, in the fifth means, the second feedback control unit performs position-type state feedback control using the second data string from the first and second storage units. Features.

  The eighth means is characterized in that in any one of the fifth to seventh means, a switching means for switching the first or second data string used in the feedback control means is provided.

  According to a ninth means, in any one of the first to eighth means, the feedback control means includes a disturbance estimation unit, and the manipulated variable is used to cancel the disturbance using the estimated value estimated by the disturbance estimation unit. It is characterized by applying to.

  A tenth means is any one of the first to ninth means, wherein the feedback control means includes a state estimation unit, and the estimated value estimated by the disturbance estimation unit is used for state estimation for state feedback control. It is characterized by using.

  The eleventh means is characterized in that, in the tenth means, a state quantity used for state feedback control includes a time required for processing of the feedback control means.

  The twelfth means is characterized in that, in the tenth means, the state quantity used for the state feedback control includes an integral value relating to a deviation between the target value and the control output.

  A thirteenth means is characterized in that, in the tenth means, the state estimation unit includes a Kalman filter.

  The fourteenth means is characterized in that, in the tenth means, the state estimation unit includes an optimum regulator.

  The fifteenth means is characterized in that the image forming apparatus includes a positioning control device according to any one of the third to fourteenth means.

  In the embodiment described later, the driving-side inertial body is denoted by reference numeral 400, the driven-side inertial body is denoted by reference numeral 500, the first storage unit is stored in the state trajectory sequence storage unit 130, and the second storage unit is stored in the manipulated variable trajectory sequence. In the storage unit 120, the reference trajectory generating means is the reference trajectory generating part 110, the feedback control means is the feedback control part 140, the first feedback control part is the speed-type state feedback control part 171 and the second feedback control part is The position type state feedback control unit 172, the switching unit corresponds to the changeover switch 190, the disturbance estimation unit corresponds to the reference numeral 150, the state estimation unit corresponds to the reference numeral 160, and the positioning control device corresponds to the control device 100.

  According to the present invention, with respect to the operation amount trajectory from the initial position to the target position stored in the second storage unit so as to follow the state trajectory from the initial position to the target position stored in the first storage means. Since state feedback control is performed, it is possible to configure a control system that is not easily affected by load fluctuations, and it is possible to perform reasonable control with reduced noise.

  Hereinafter, the best embodiment of the present invention will be described with reference to the drawings.

<First Embodiment>
FIG. 1 is a model diagram showing an overall configuration of a motor control system described in the background art, and FIG. 2 is a model diagram showing a state feedback control system having a reference trajectory corresponding to a target position as details of the control device. An object 200 to be controlled is a driven inertial body 500 that is softly coupled (belt reduction mechanism, etc.) to a drive side inertial body (motor, etc.) 400, and an angle detector (not shown) is connected to the driven side inertial body to apply load torque. It becomes the composition which is done. Also, the rotation angle information Y obtained from the angle detector attached to the driven inertial body is input to the disturbance estimator 150 and the state estimator 160 as shown in FIG. Are also input to the disturbance estimator 150 and the state estimator 160. In FIG. 1, the symbols J ₁ , R ₁ , J ₂ , R ₂ , K, D, τ ₁ , ω ₁ , θ ₁ , τ ₂ , ω ₂ , and θ ₂ are as described above, and the operation amount The same applies to U (= τ ₁ ) and observation output Y (= θ ₂ ). In the following, the same reference numerals are assigned to the same parts as those in the model diagram described in the background art, and duplicate descriptions are omitted.

  In FIG. 2, the control device 100 includes a reference trajectory generation unit 110 corresponding to a target position and a feedback control unit 140 for error correction. The reference trajectory generator 110 further includes an operation amount trajectory sequence storage unit 120 and a state trajectory sequence storage unit 130. A feedback control unit 140 includes a disturbance estimation unit 150, a state estimation unit 160, a state feedback control unit 170, and an operation. It is comprised from the quantity conversion part 180. FIG. Note that the reference trajectory generator 110 obtains a trajectory sequence in advance using a control target model by an optimization method (such as mathematical programming) and stores the obtained trajectory sequence in real time during control. Can generate a reference trajectory.

The input to the controller 100 and the rotation angle theta ₂ obtained by the driven-side angle detector, and a target position where the designer desires is input. A motor driving PWM amplifier 300 is connected to the output U (= operation amount) of the control device 100, and the output of the amplifier is connected to the motor 400.

In the state estimation unit 160, the operation amount U, the observation output Y, and the estimated disturbance torque _TE are input, and all the internal states of the control target 200 are estimated. The feedback gain in the state estimation unit 160 is determined by the Kalman filter design method, and is obtained by solving the Riccati equation by giving an appropriate weighting coefficient (noise covariance data). By using a known Kalman filter as a design method, the designer can easily design without considering the pole arrangement or the like. Since the method using the Kalman filter itself is known, it will not be described here.

In the state feedback control unit 170, the estimated internal state X _E (drive shaft angular velocity ω _1E , driven shaft angular velocity ω _2E , drive shaft angle θ _1E , driven shaft angle θ _2E ) and the target input from the state trajectory sequence storage unit 130. calculating a manipulated variable U from the deviation between the state X _R. The state feedback gain is determined by a known optimum regulator design method, and is obtained by giving an evaluation function appropriately so as to satisfy the control specifications and solving the Riccati equation. By using the optimum regulator as a design method, the designer can easily design without considering the pole arrangement or the like. Since the method using an optimal regulator is well-known, description is abbreviate | omitted.

The disturbance estimating section 150 calculates a load torque applied from the operation amount U and the driven-side rotation angle theta ₂ to the driven side inertial member. As a calculation method, it can be obtained by the inverse function 1 / P of the transfer function P to be controlled. However, since 1 / P becomes a differentiator, a value obtained by removing a high frequency with a normal low-pass filter is used as an estimated value. The estimated disturbance torque _TE is input to the state estimation unit 160 and the operation amount conversion unit 180, respectively.

  The operation amount converted by the operation amount conversion unit 180 is added to the target operation amount in the previous stage and is input to the control target 2 as the operation amount U.

The control device 100 configured as described above controls the control target 200 as follows. That is, the rotation angle information Y and the operation amount U obtained from the angle detector attached to the driven inertial body of the two-inertia system that is the control target 200 are input to the disturbance estimation unit 150 and the state estimation unit 160, and the state estimation unit Further, an estimated load value from the disturbance estimation unit 150 is input to 160. Thus, the state estimation unit 160 estimates the internal state X _E (drive shaft angular velocity ω _1E , driven shaft angular velocity ω _2E , drive shaft angle θ _1E , driven shaft angle θ _2E ) using the model to be controlled, and state deviation is calculated by comparing the state track sequence X _R that has been determined. Based on this state deviation, the state feedback control unit 170 obtains a correction operation amount U _E corresponding to the position error, and the correction operation amount output from the operation amount trajectory sequence storage unit 120 prepared in advance is added to the correction operation amount. By applying the quantity U _E , position error correction is performed in real time.

In parallel with this error correction operation, the load estimated value T _E obtained from the disturbance estimating section 150, it is possible to obtain a manipulated variable to cancel out the actual load through operation amount conversion unit 180, the operation amount of the Furthermore, by obtaining an operation amount U by applying an operation amount corresponding to a load, and inputting this operation amount U to the control object 2, a control system that is less susceptible to load fluctuations can be obtained.

More specifically, the state estimation unit 160 uses the model of the control target 2 based on the estimated load torque τ ₂ , the operation amount U, and the rotation angle Y (= θ ₂ ) to control the internal state X _E (drive shaft) of the control target 2. Angular velocity ω _1E , driven shaft angular velocity ω _2E , driving shaft angle θ _1E , driven shaft angle θ _2E ). At this time, the estimated rotation angle θ _2E is always compared with the actual rotation angle θ _2, and when an error occurs, an operation of correcting the estimated rotation angle θ _2E according to the actual rotation angle θ ₂ by the effect of the feedback gain is performed. The state feedback control unit 170 calculates the manipulated variable U (= τ ₁ ) by performing state feedback on the deviation between the internal state X _E estimated as the control target and the target state X _R desired by the designer. . The disturbance estimation unit 150 estimates the load torque τ ₂ applied to the driven inertial body from the operation amount U and the driven rotation angle θ ₂ . Further, the load can be canceled by replacing the estimated load torque value τ ₂ with the manipulated variable U and applying it to the driving inertial body.

  When the control device 1 as described above is actually configured, it is generally realized by using a digital signal processor (DSP) in order to obtain the advantages of the digital system. It is necessary to replace such a continuous time system with a discrete time system. Along with this discretization, there arises a problem that the control system becomes unstable due to a calculation delay by the control processing. Therefore, the calculation delay of the manipulated variable is also considered as a state, and by adding this to the state feedback, the calculation delay can be compensated and the stability of the control system can be maintained.

  In positioning control, high-precision positioning is often required in view of product specifications. In this case, since a response without a steady deviation is desired, a response without a steady deviation is obtained by newly adding an integral value related to the deviation between the target value and the control output as a state quantity to be handled in the state feedback control. be able to.

  As described above, according to the present embodiment, the following effects can be obtained.

1) The reference trajectory generation unit 110 includes an operation amount trajectory sequence storage unit 110 and a state trajectory sequence storage unit 130, and a state trajectory (position, speed, etc.) from an initial position to a target position is stored in the state trajectory sequence storage unit 130 in advance. The operation amount trajectory data series is stored in the operation amount trajectory sequence storage unit 110, and the positioning is performed by performing the state feedback control along the state trajectory so that the positioning operation suitable for the dynamic characteristics of the mechanism is achieved. Therefore, it is possible to perform a reasonable control with reduced noise.

2) A disturbance estimation unit 150 is provided, and an estimated load value corresponding to the friction load can be obtained in real time. An operation amount that cancels the load is calculated from the estimated value and applied to the motor 400, whereby the load is calculated. A control system that is less susceptible to fluctuations can be obtained.

3) By adding the time required for processing of the control device 100 (= dead time) to the state quantity as the state quantity used for the state feedback control, a control system that takes the dead time into consideration can be realized. Stability is improved.

4) By adding an integral value related to the deviation between the target value and the control output to the state quantity as the state quantity used for the state feedback control, it is possible to realize a control system in which no steady deviation occurs, so that the control accuracy of the control output is improved. .

5) By using the Kalman filter, it is not necessary for the designer to consider the pole and zero point, and the design is facilitated because it is only necessary to give a weighting coefficient.

6) By adopting the optimum regulator, it is not necessary for the designer to consider the pole and zero point, and it is only necessary to give a weighting factor, so that the design is facilitated.

End of Form <Second Embodiment>
Since the present embodiment is different only in the configuration of the control device 100 in the first embodiment described above, the same reference numerals are given to the same components, and different points will be mainly described, and overlapping descriptions will be given as much as possible. Omitted.

  In FIG. 4, the control device 100 includes a reference trajectory generation unit 110 corresponding to a target position and a feedback control unit 140 for error correction. The reference trajectory generation unit 110 includes an operation amount trajectory sequence storage unit 120 and a state trajectory sequence storage unit 130. The feedback control unit 140 includes a disturbance estimation unit 150, a state estimation unit 160, a state feedback control unit 170, and an operation amount. And a conversion unit 180.

  Further, in the reference trajectory generation unit 100, an operation amount activation sequence storage unit 111 for rotation activation / constant speed, a state activation sequence storage unit 121, an operation amount activation sequence storage unit 121 for rotation deceleration / stop, a state activation It is divided into a series storage unit 122. Since it is difficult to prepare all the trajectories for various target values, speed control type state feedback control is performed in the coarse operation section in the positioning operation. It switches to position control type state feedback control at the start of deceleration. Therefore, the operation amount trajectory sequence storage unit 110 in the first embodiment includes an operation amount start sequence storage unit 111 for rotation start / constant speed and an operation amount start sequence storage unit 121 for rotation deceleration / stop. The state trajectory sequence storage unit 120 is composed of a state trajectory sequence storage unit 121 for rotation start / constant speed and a state trajectory sequence storage unit 122 for rotation deceleration / stop, and the state feedback control unit 170 is a speed type state feedback control. Part 171 and a position type state footback control part 172.

  Further, the operation amount trajectory sequence storage unit 110 includes an operation amount start sequence storage unit 111 for rotation start / constant speed and an operation amount start sequence storage unit 121 for rotation deceleration / stop, and a state trajectory sequence storage unit 120 is composed of a state trajectory sequence storage unit 121 for rotational start / constant speed and a state trajectory sequence storage unit 122 for rotational deceleration / stopping. A changeover switch 190 is provided for switching data to be used when the vehicle is stopped. As a result, the data of the storage unit to be used and the data of the feedback control unit are selected to calculate the operation amount U and output to the control target 2. The reference trajectory generator 110 generates a reference trajectory in real time during control by obtaining and storing a trajectory sequence in advance using a control target model by an optimization method (such as mathematical programming). Can do.

The configuration of the control device 100 is roughly as described above. The rotation angle information Y and the operation amount U obtained from the angle detector attached to the driven inertial body of the two-inertia system to be controlled are the state of the disturbance estimation unit 150 and the state. is input to the estimating unit 160, the load estimated value T _E from further disturbance estimating unit 150 to the state estimation unit 160 is input. Thus, the state estimation unit estimates the internal state X _E (ω _1E , ω _2E , θ _1E , θ _2E ) using the model to be controlled, and compares the state with a state trajectory sequence obtained in advance. Deviation is calculated. Based on the state deviation, the state feedback control unit obtains a correction operation amount U _E corresponding to the position error, and the operation amount output from the storage unit 120 of the operation amount trajectory sequence prepared in advance is added to the correction operation amount. By applying the quantity U _E , position error correction is performed in real time. In parallel with this error correction operation, an operation amount that cancels the actual load can be obtained through the operation amount conversion unit 180 from the estimated load value obtained from the disturbance estimation unit 150. By applying the manipulated variable, it is possible to make the control system less susceptible to load fluctuations.

At that time, in the rough operation section (at rotation start / constant speed), the changeover switch 190 calculates data from the operation amount start sequence storage unit 121 and the speed type state feedback control unit 171 for rotation start / constant speed. The result is selected, and in the stop operation section (rotational deceleration / constant speed), the result of calculating the data from the manipulated variable starting sequence storage unit 122 and the position type state feedback control unit 172 for rotational deceleration / stop is selected. The The speed type state feedback control unit 171 estimates the target state X _R1 desired by the designer stored in the state activation sequence storage unit 131 for rotation activation and constant speed and the control target from the state estimation unit 160. the internal state X _E and are input to the position-type state feedback controller 172, a target state X _R2 in which stored designers state activation sequence storage unit 132 for rotation deceleration and stopping is desired and a state estimation unit 160 and internal state X _E estimated for the control target from is input.

More specifically, the state estimation unit 160 uses the model of the control target from the estimated load torque τ, the operation amount U, and the rotation angle Y (= θ ₂ ) to control the internal state X (ω _1E , ω _2E , θ _1E , θ _2E ) is estimated. At this time, the estimated rotation angle θ _2E is always compared with the actual rotation angle θ _2, and when an error occurs, an operation of correcting the estimated rotation angle θ _2E according to the actual rotation angle θ ₂ by the effect of the feedback gain is performed.

In the speed-type state feedback controller 171 and the position-type state feedback controller 172, and the internal state X _E estimated for the control target, to the deviation between the target state X _R1, X _R2 designer desires, each state feedback By performing this, an operation amount U (= τ ₁ ) is calculated. The disturbance estimation unit 150 estimates the load torque τ ₂ applied to the driven inertial body from the operation amount U and the driven rotation angle θ ₂ . Further, the load can be canceled by replacing the estimated load torque value τ ₂ with the manipulated variable U and applying it to the drive side inertial body (control object 2).

  Other parts not specifically described are configured in the same manner as the first embodiment and the conventional example, and function in the same manner.

  As described above, according to the present embodiment, in addition to the effects of the first embodiment, the manipulated variable trajectory sequence storage unit 120 and the state trajectory sequence storage unit 130 are rotated at startup / constant speed and at rotational deceleration / stop, respectively. Are divided into storage units 121, 122, 131, and 132 that store a series of control and divided into two control modes of rotation start / constant speed and rotation deceleration / stop, and even when there are many target values. Since it is possible to cope with two data series of activation and deceleration, it is possible to realize reference trajectory data generation with a small memory size.

<Embodiment Applied to Image Forming Apparatus>
The positioning control device described in the first and second embodiments can be applied to, for example, an image forming apparatus (printer) that uses a belt as a mechanism element (transfer belt). 5, 6, and 7 show a schematic configuration of a printing mechanism of a so-called inkjet printer according to the present embodiment.

  In these drawings, the sheet-like recording papers 21 stacked on the automatic paper feeder 20 are separated one by one by the automatic paper feeder 20 and sent out in the direction of the printing unit. The recording paper 22 delivered from the automatic paper feeder 20 is fed between the print head 24 and the platen roller 25 of the ink jet recording head unit 23, conveyed in the discharge direction by the platen roller 25, and imaged by the print head 24. Is recorded. The recording paper 22 on which the image has been recorded is conveyed and discharged by a platen roller 25 and a discharge roller 26.

  The printing unit 23 is detachably attached to a carriage 28, and the carriage 24 has a moving direction defined by a guide bar 29, and is connected to a belt 33 wound between pulleys 31 and 32. ing. The belt 33 is moved in two directions by the drive of the carriage motor 35. When the carriage motor 35 is driven in the forward direction, the carriage 28 moves in the main scanning direction, and the carriage motor 35 moves in the return direction. When driven, the carriage 29 moves in the return direction.

  Further, the driving force of the transport motor 36 is transmitted to the transport roller 25 and the discharge roller 26 via the transmission mechanism 37. When the transport motor 36 is driven in the forward direction, the transport roller 25 and the discharge roller 26 are When the recording paper 22 is transported in the transport direction and the transport motor 36 is driven in the opposite direction, the transport roller 25 and the discharge roller 26 transport the recording paper 22 in the reverse transport direction.

  A recording paper sensor 38 for detecting the recording paper 22 is disposed at a position where the recording paper 22 can be detected before the ink jet recording head unit 23, and an ink end mark (described later) recorded on the recording paper 22 is provided. The ink end mark sensor 39 for detecting the ink is provided on the carriage 28 on the upstream side of the print head 24 in the transport direction of the recording paper 22. An initialization sensor 40 including a pair of light emitting elements and light receiving elements is for detecting that the ink jet recording head unit 23 has moved to a predetermined initial position. A section-like projection 41 that shields the detection part of the initialization sensor 40 is provided. Therefore, the initialization sensor 40 is turned off when the ink jet recording head unit 23 is moved to the initial position, and the initialization sensor 40 is turned on in other cases.

  The carriage motor 35 and the conveyance motor 36 are controlled to be turned on / off according to the on / off state of these sensors. When the positioning control device is applied to the motor control such that acceleration, stop, and deceleration accompanying the start and start of the motor are repeated, use a control system that is not easily affected by load fluctuations. Therefore, it is possible to provide an ink jet recording apparatus that generates less noise.

  In this embodiment, the drive control of the carriage of the ink jet head is taken as an example. However, in addition to this, a sheet feeding device of various image forming apparatuses, for example, a registration roller is used to control the sheet conveyance timing. Noise can be suppressed even in such a sheet feeding device.

It is a model figure which shows the whole control system of a motor control system. It is a model figure which shows the state feedback control system which has the reference track corresponding to the target position in 1st Embodiment. It is a figure which shows the conventional control methods (PID, phase compensation, etc.) of the control system of FIG. It is a model figure which shows the state feedback control system which has a reference track corresponding to the target position in 2nd Embodiment. 1 is a plan view of an ink jet recording apparatus to which first and second embodiments are applied. FIG. 6 is a front view of FIG. 5. FIG. 6 is a side view of FIG. 5.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Control apparatus 110 Reference trajectory generation part 111 Operation amount trajectory system memory | storage part 112 State trajectory system memory | storage part 120 Operation amount trajectory series memory | storage part 131 Operation amount trajectory system memory | storage part 122 State trajectory system memory | storage part 130 State trajectory series memory | storage part 140 Feedback control Unit 150 disturbance estimation unit 160 state estimation unit 170 state feedback control unit 171 speed type state feedback control unit 172 position type state feedback control unit 180 operation amount conversion unit 190 changeover switch 200 control target 300 PWM amplifier 400 drive side inertial body (motor)
500 Driven inertial body (photosensitive drum)

Claims (15)

In a positioning control method of a mechanism that forms a torsional vibration system including a driving side inertial body connected to a driving shaft and a driven side inertial body connected to a driven shaft,
Positioning control characterized in that a data sequence of a state trajectory and an operation amount trajectory from an initial position to a target position is stored in advance as a control reference trajectory, and positioning is performed by performing state feedback control along the state trajectory. Method. In a positioning control method of a mechanism that forms a torsional vibration system including a driving side inertial body connected to a driving shaft and a driven side inertial body connected to a driven shaft,
As a reference trajectory for control, it is divided into two sections, a first section from rotation start to constant speed and a second section from rotation deceleration to stop.
Preliminarily storing a data sequence of the first state trajectory and the first manipulated variable trajectory in the first interval, and a data sequence of the second state trajectory and the second manipulated variable trajectory in the second interval;
In the first section, a data sequence of the first manipulated variable trajectory is generated along the first state trajectory, and state feedback control is performed on the speed,
When approaching the vicinity of the target position, the control mode is switched from the first section to the second section,
In the second section, positioning is performed by generating a data sequence of the second manipulated variable trajectory along the second state trajectory and performing state feedback control on the position. Control method. In a positioning control device for a mechanism that forms a torsional vibration system including a driving side inertial body connected to a driving shaft and a driven side inertial body connected to a driven shaft,
Reference trajectory generating means comprising first and second storage units for storing a data sequence of a state trajectory and an operation amount trajectory from an initial position to a target position in advance as control reference trajectories,
Feedback control means for performing state feedback control on the operation amount trajectory stored in the second storage unit so as to follow the state trajectory stored in the first storage unit;
And a positioning control device for positioning the mechanism.   The first and second storage units store a first data string of a state trajectory and an operation amount trajectory from the start of rotation to a constant speed, and a second data of a state trajectory and an operation amount start from the rotation deceleration to the stop. 4. The positioning control apparatus according to claim 3, wherein each column is stored.   The feedback control means includes a first feedback control unit that performs control from rotation start to constant speed and a second feedback control unit that performs control from rotation deceleration to stop. The positioning control device according to claim 3 or 4.   6. The positioning control apparatus according to claim 5, wherein the first feedback control unit performs speed-type state feedback control using the first data string from the first and second storage units.   The positioning control device according to claim 5, wherein the second feedback control unit performs position-type state feedback control using the second data string from the first and second storage units.   8. The positioning control apparatus according to claim 5, further comprising switching means for switching the first or second data string used in the feedback control means.   The said feedback control means is provided with a disturbance estimation part, It applies to the operation quantity so that a disturbance may be canceled using the estimated value estimated by the said disturbance estimation part. The positioning control device described in 1.   The positioning control device according to claim 9, wherein the feedback control unit includes a state estimation unit, and uses the estimated value estimated by the disturbance estimation unit for state estimation for state feedback control.   11. The positioning control apparatus according to claim 10, wherein the state quantity used for the state feedback control includes a time required for processing of the feedback control means.   11. The positioning control device according to claim 10, wherein the state quantity used for the state feedback control includes an integral value relating to a deviation between the target value and the control output.   The positioning control apparatus according to claim 10, wherein the state estimation unit includes a Kalman filter.   11. The positioning control apparatus according to 10, wherein the state estimation unit includes an optimum regulator.   An image forming apparatus comprising the positioning control device according to claim 3.

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