JP2009242047A - Motor control device, fluid ejection device and motor control method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a motor control device capable of excellently controlling a feeding speed of roll paper by rotation of a first motor and a feeding speed of the roll paper by driving of a second motor. <P>SOLUTION: This motor control device has a first motor 33 for applying driving force for rotating a roll body for supplying the roll paper from a roll body wound with the roll paper, a second motor 53 for driving a carrying driving roller arranged on the downstream side of the roll body in the supply direction of the roll paper, that is, the carrying driving roller for carrying the roll paper, a first control means 130 for controlling the driving of the second motor 53, and a second control means 110 for controlling driving of the first motor of rotating in response to carrying of the roll paper of the second motor 53. The second control means 110 starts braking of the driving of the first motor 33 when the feeding speed of the roll paper by the rotation of the first motor 33 becomes larger than the feeding speed of the roll paper by the driving of the second motor 53. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a motor control device, a fluid ejection device, and a motor control method.

Among the ink jet printers, there is a type that uses a large paper having a paper size of A2 or larger. In such large-format ink jet printers, so-called roll paper (hereinafter, a so-called roll paper around which the paper is wound is used as a roll body and a portion pulled out from the roll body is used as paper) is used in addition to the cut paper. Often done. At present, the paper is pulled out from the roll body by a paper feed motor (PF motor). At this time, the PF motor is controlled and driven by PID control. As a printer using such a roll body, there is one disclosed in Patent Document 1. Further, there are printers that perform PID control as shown in Patent Documents 2 to 4.

JP 2007-290866 A JP 2006-240212 A JP 2003-79177 A JP 2003-48351 A

The roll body in a large-format printer is heavy, so that the load when pulling out the paper from the roll body is large. Therefore, there is a possibility that a problem such as breakage of the paper may occur only by driving from the PF motor. Therefore, a model has been developed in which a roll motor for rotating the roll body is provided, and the roll motor is driven together with the PF motor to pull out the paper.

In order to drive the roll motor together with the PF motor to pull out the paper, it is necessary to match the paper feed speed by the drive of the roll motor and the paper feed speed by the drive of the PF motor within a certain range. However, this speed adjustment is possible, for example, by measuring in advance the motor drive load during the constant speed drive operation.

However, for example, if the measurement is not accurately performed because the operator touches the roll body at the time of the measurement and the speed is adjusted based on an erroneous measurement result, the speed of the paper feed by the driving of the roll motor and the PF In some cases, the speed of paper feeding by driving the motor is not properly controlled. As a result, for example, the paper feed speed due to the drive of the roll motor becomes faster than the paper feed speed due to the drive of the PF motor, and there is a problem that the paper between the roll motor and the PF motor is largely loosened.

The present invention has been made on the basis of the above circumstances, and the object of the present invention is that when the paper feed speed by driving the roll motor and the paper feed speed by driving the PF motor are not properly controlled, the paper The present invention is intended to provide a motor control device, a fluid ejecting apparatus, and a motor control method that prevent the slackening of the motor.

The motor control device according to the present invention includes a first motor that provides a driving force for rotating the roll body to supply the roll paper from the roll body around which the roll paper is wound, and a supply direction of the roll paper. A second drive motor that is provided on the downstream side of the roll body and that provides a drive force for driving the transport drive roller for transporting the roll paper; and a first control unit that controls the drive of the second motor; And a second control means for controlling the driving of the first motor that rotates as the roll paper is conveyed by the second motor, wherein the second control means has a roll paper feed speed by the rotation of the first motor. When it becomes larger than the feed speed of the roll paper driven by the second motor,
Alternatively, when the amount of roll paper fed by the rotation of the first motor becomes larger than the amount of roll paper fed by the driving of the second motor, braking of the driving of the first motor is started.

The second control means can start the braking of the driving of the first motor when the feeding of the roll paper by the driving of the second motor is stopped.

  A fluid ejecting head that ejects fluid to the roll paper can be provided.

The motor control method of the present invention includes a first motor that provides a driving force for rotating the roll body to supply the roll paper from the roll body around which the roll paper is wound, and a roll paper supply direction. A motor control method of a motor control device, comprising: a second motor that provides a driving force for driving a conveyance driving roller for conveying a roll paper, the conveyance driving roller being provided downstream of the roll body, A first control step for controlling the driving of the two motors, and a second control step for controlling the driving of the first motor that rotates as the roll paper of the second motor is conveyed. When the roll paper feed speed by the rotation of one motor becomes larger than the roll paper feed speed by the driving of the second motor, or the roll paper feed amount by the rotation of the first motor is the second motor. When it becomes more than feed amount of the roll paper by driving the first
The motor drive braking is started.

In the motor control device or the motor control method of the present invention, a first motor that applies a driving force for rotating the roll body to supply the roll paper from the roll body around which the roll paper is wound, and the roll paper The second motor driving is controlled for a second motor that is provided on the downstream side of the roll body along the supply direction and provides a driving force for driving the conveyance driving roller for conveying the roll paper. Then, the driving of the first motor that rotates as the roll paper is conveyed by the second motor is controlled. When the roll paper feed speed due to the rotation of the first motor becomes larger than the roll paper feed speed due to the drive of the second motor, or the roll paper feed amount due to the rotation of the first motor is the roll due to the drive of the second motor. When the amount exceeds the paper feed amount, braking of the drive of the first motor is started.

According to the present invention, it is possible to satisfactorily control the roll paper feed speed by the rotation of the first motor and the roll paper feed speed by the drive of the second motor.

Hereinafter, a printer 10 as a fluid ejecting apparatus including a motor control device (mainly a control unit 100) according to an embodiment of the present invention and a drive control method will be described. Note that the printer 10 according to the present embodiment is a printer for printing large-sized paper having a size of, for example, JIS standard A2 or larger. The printer in this embodiment is an ink jet printer. However, the ink jet printer may be an apparatus that employs any ejection method as long as it is an apparatus capable of printing by ejecting ink.

In the following description, the lower side refers to the side where the printer 10 is installed, and the upper side refers to the side away from the installed side. Further, the side on which the paper P is supplied will be described as a feeding side (rear end side), and the side on which the paper P is discharged will be described as a paper discharge side (front side).

<Schematic Configuration of Printer 10>
As shown in FIG. 1, the printer 10 includes a pair of leg portions 11 and a main body portion 20 supported by the leg portions 11. The leg portion 11 is provided with a support column 12, and a rotatable caster 13 is attached to the caster support portion 14. Therefore, the printer 10
The user can freely move it.

Various types of internal devices are mounted on the main body 20 in a state of being supported by a chassis (not shown), and these are covered with an external case 21. Also, as shown in FIGS.
The main body 20 is provided with a roll drive mechanism 30, a carriage drive mechanism 40, and a paper transport mechanism 50 as a drive system using a DC motor.

The roll driving mechanism 30 rotates the roll body RP in accordance with the drawing of the paper P from the roll body RP by the paper transport mechanism 50, so that the paper P wound around the roll body RP is transported to the paper transport mechanism 5.
This is a mechanism for feeding to the 0 side.

The paper transport mechanism 50 is a mechanism that rotates the transport drive roller 51 a of the transport roller pair 51 to pull out the paper P from the roll body RP and transport the paper P to the carriage drive mechanism 40.

The carriage drive mechanism 40 is a mechanism that performs printing on the paper P by ejecting ink onto the paper P conveyed by the paper conveyance mechanism 50.

As shown in FIG. 1, the roll driving mechanism 30 is provided in the roll mounting portion 22 on the back side and the upper side of the main body portion 20. The roll mounting unit 22 has a structure in which the roll body RP is mounted therein by opening the opening / closing lid 23, which is an element constituting the outer case 21, and the roll body RP can be rotated by the roll driving mechanism 30. is doing.

Further, as shown in FIGS. 2 and 4, the roll drive mechanism 30 includes a rotation holder 31, a gear wheel train 32, a roll motor 33, and a rotation detection unit 34.

Among these, the rotation holders 31 are inserted from both ends of the hollow hole RP1 provided in the roll body RP, and a pair of rotation holders 31 are provided to support the roll body RP from both ends. The roll motor 33 as the first motor applies a driving force (rotational force) to the rotation holder 31 a located on one end side of the pair of rotation holders 31 via the gear wheel train 32. That is, the roll body RP is rotated by driving the roll motor 33.

Further, the rotation detector 34 uses a rotary encoder in the present embodiment. Therefore, the rotation detection unit 34 includes a disk-shaped scale 34a and a rotary sensor 34b. The disk-shaped scale 34a has a light-transmitting part that transmits light and a light-shielding part that blocks light transmission at regular intervals along the circumferential direction. The rotary sensor 34b
A light emitting element (not shown), a light receiving element (not shown), and a signal processing circuit (not shown) are main components.

In the present embodiment, pulse signals (A-phase ENC signal and B-phase ENC signal) whose phases are different from each other by 90 degrees as shown in FIG. 5 are input to the control unit 100 by the output from the rotary sensor 34b. Is done. Therefore, it is possible to detect whether the roll motor 33 is in the normal rotation state or the reverse rotation state by the progress / delay of the phase.

The carriage drive mechanism 40 includes a carriage 41 that is a part of components of the ink supply / ejection mechanism, a carriage shaft 42, and other carriage motors and belts (not shown).

Among these, the carriage 41 includes an ink tank 43 for storing ink of each color (corresponding to fluid). The ink tank 43 is connected to the front side of the main body 20 via a tube (not shown). Ink can be supplied from an ink cartridge (not shown) fixedly provided on the printer. Further, as shown in FIGS. 2 and 3, a print head 44 (corresponding to a fluid ejecting head) capable of ejecting ink droplets is provided on the lower surface of the carriage 41. The print head 44 is provided with a nozzle row (not shown) associated with each ink.
Piezo elements (not shown) are arranged in the nozzles constituting the nozzle row. By operating the piezo element, it is possible to eject ink droplets from the nozzles at the end of the ink passage.

The carriage 41, the ink tank 43, a tube (not shown), the ink cartridge, and the print head 44 constitute an ink supply / ejection mechanism. The print head 44 is not limited to a piezo drive system using a piezo element. For example, a heater system that heats ink with a heater and uses the generated foam force, a magnetostriction system that uses a magnetostrictive element, and a mist that is controlled by an electric field. A mist method or the like may be employed. Ink cartridge / ink tank 4
Any kind of ink such as dye-based ink / pigment-based ink may be mounted on the ink filled in 3.

As shown in FIGS. 2 and 3 and the like, the sheet transport mechanism 50 includes a pair of transport rollers 51 and a gear train 5.
2, a PF motor 53, and a rotation detector 54.

The transport roller pair 51 includes a transport driving roller 51a and a transport driven roller 51b, and a sheet P (corresponding to a roll paper) drawn from the roll body RP can be sandwiched between them. The PF motor 53 as the second motor gives a driving force (rotational force) to the transport driving roller 51a via the gear wheel train 52. That is, the PF motor 53
The drive roller 51a is rotated by the driving of.

Further, the rotation detection unit 54 uses a rotary encoder in the present embodiment, and includes a disk-like scale 54a and a rotary sensor 54b, like the rotation detection unit 34 of the roll drive mechanism 30, and FIG. It is possible to output a pulse signal as shown in FIG.

Further, a platen 55 is provided on the downstream side (discharge side) from the pair of conveying rollers 51, and the paper P is guided on the platen 55. The print head 44 is disposed on the platen 55 so as to face the platen 55. A suction hole 55 a is formed in the platen 55. The suction hole 55a is provided so as to communicate with the suction fan 56, and the suction fan 5
6 is operated, air is sucked from the print head 44 side through the suction hole 55a. Thereby, when the paper P exists on the platen 55, the paper P can be sucked and held.

The printer 10 is configured in this way. In addition, the printer 10 includes other various sensors such as a paper width detection sensor that detects the width of the paper P.

<Regarding the control unit>
Next, the control unit 100 will be described with reference to FIG. The control unit 100 performs various controls. The control unit 100 includes outputs such as the above-described rotary sensors 34b and 54b, a linear sensor (not shown), a paper width detection sensor (not shown), a gap detection sensor (not shown), and a power switch for turning on / off the printer 10. A signal is input.

As shown in FIG. 2, the control unit 100 includes a CPU 101, ROM 102, RAM 103, P
A ROM 104, an ASIC 105, a motor driver 106, and the like are provided, and these are connected to each other via a transmission path 107 such as a bus. The control unit 100 is connected to the computer COM. And these hardware, ROM102 and PR
The main controller 110 and roll motor control as shown in the block diagram of FIG. 6 by the cooperation of software and / or data stored in the OM 104 or the addition of circuits and components for performing specific processing. The unit 120 and the PF motor control unit 130 are realized.

The PF motor control unit 130 as the first control means performs control to drive the PF motor 53 according to a drive table Tpf as shown in FIG. 7, for example. The drive control of the PF motor 53 is performed by PID control.

The roll motor 33 is rotated in the same direction as the PF motor 53 as a result of being pulled through the paper P by the rotation of the PF motor 53. However, the roll motor control unit 120 is based on information on the motor drive load obtained by the measurement. Thus, drive control for adjusting the load of the roll motor 33 during rotation (hereinafter referred to as assist control as appropriate) is performed.

Although PID control by the PF motor control unit 130 and assist control by the roll motor control unit 120 will be described later, the PF motor 53 and the roll motor 33 are driven in synchronism to some extent by their drive control. When the drive control processes do not need to be individually distinguished, they are collectively referred to as a sync drive control process Z1.

The main control unit 110 as the second control means gives a predetermined command to both the roll motor control unit 120 and the PF motor control unit 130 in order to realize the synchro drive control process Z1.

The main control unit 110 also detects the roll motor 33 when the feed speed of the paper P due to the rotation of the roll motor 33 becomes larger than the feed speed due to the driving of the PF motor 53 by the assist control based on the erroneous measurement result in the measurement, for example. A process of applying a brake to the motor (that is, a process of braking the drive of the roll motor 33) is performed. The feed speed due to the rotation of the roll motor 33 is supplied from the roll motor control unit 120, and the feed speed due to the driving of the PF motor 53 is supplied from the PF motor control unit 130.

When the feed speed of the paper P due to the rotation of the roll motor 33 becomes larger than the feed speed due to the driving of the PF motor 53, the paper P exceeding the transport amount by the PF motor 53 is sent out from the roll body RP, as shown in FIG. Then, the paper P between the roll drive mechanism 30 and the paper transport mechanism 50 is slackened. Thus, when the feed speed of the paper P due to the rotation of the roll motor 33 becomes larger than the feed speed due to the driving of the PF motor 53 in this way, the driving of the roll motor 33 is braked, so that the PF motor is caused before slackening occurs. Since the sheet P is conveyed by the sheet 53, the sheet P is not loosened between the roll drive mechanism 30 and the sheet conveyance mechanism 50.

In the following, the feeding speed of the paper P due to the rotation of the roll motor 33 is PF motor 53.
The driving of the roll motor 33 that is larger than the feed speed by the driving is also referred to as “roll-side self-running”. Further, the braking process for driving the roll motor 33 during self-running on the roll side in the main control unit 110 is also referred to as roll-side self-running prevention process Z2 as appropriate.

Next, the configuration of the roll motor control unit 120 and the PF motor control unit 130 will be described. As shown in FIG. 6, output arithmetic units 140a and 140b are realized in the roll motor control unit 120 and the PF motor control unit 130, respectively. In the output calculation unit 140a, output control for calculating a motor actual output value Dx as described later is performed without performing PID calculation.
Moreover, in the output calculation part 140b, the PID calculation for performing PID control is performed. First, based on FIG. 9, the block diagram of the output calculating part 140b for performing PID calculation is demonstrated previously.

As illustrated in FIG. 9, the output calculation unit 140b includes a position calculation unit 141, a speed calculation unit 142, a first subtraction unit 143, a target speed generation unit 144, a second subtraction unit 145, and a proportional element 146.
, An integration element 147, a differentiation element 148, an adder 150, a PWM signal output unit 152, and a timer 153.

The position calculator 141 receives an output signal (a rectangular wave) input from the rotary sensor 54b (
The feed amount of the paper P is calculated by counting the edges in FIG.

In addition, the speed calculation unit 142 counts the edges of the output signal that is a rectangular wave input from the rotary sensor 54b, and based on the counted edges and the time (cycle) measured by the timer 153, The feed speed is calculated, and the second subtraction unit 145 and the main control unit 11 are calculated.
Supply to zero.

Further, the first subtraction unit 143 is based on the information on the feed amount (current position) output from the position calculation unit 141 and the information on the target position (target stop position) output from the memory such as the ROM 102 or the PROM 104. The position deviation is calculated by subtracting the current position from the target position (target stop position).

Information on the positional deviation output from the first subtraction unit 143 is input to the target speed generation unit 144. Then, the target speed generation unit 144 outputs information regarding the target speed according to the position deviation. The information regarding the target speed is obtained by using a drive table T as shown in FIG.
It is about pf.

The second subtracting unit 145 subtracts the current feed speed (current speed) of the PF motor 53 from the target speed, calculates a speed deviation ΔV, and outputs it to the proportional element 146, the integral element 147, and the differential element 148, respectively. The proportional element 146, the integral element 147, and the derivative element 148 are based on the input speed deviation ΔV, the following proportional control value QP, integral control value QI, and differential control value QD.
And calculate.
QP (j) = ΔV (j) × Kp (Expression 1)
QI (j) = QI (j−1) + ΔV (j) × Ki (Expression 2)
QD (j) = {ΔV (j) −ΔV (j−1)} × Kd (Formula 3)
Here, j is time, Kp is a proportional gain, Ki is an integral gain, and Kd is a differential gain.

The adder 150 adds the control values output from the proportional element 146, the integral element 147, and the derivative element 148, and adds the sum (total value; Qpid) of the control values obtained by the addition to the PWM signal output unit 152. Output.

The control value Qpid output from the adder 150 is input to the PWM signal output unit 152. In the PWM signal output unit 152, Du obtained by converting the supplied control value Qpid.
Output PWM signal of ty value. The timer 153 receives a signal from a clock (not shown). When a predetermined PID calculation period such as 100 μsec arrives, a timer signal is output to the speed calculation unit 142 for each PID calculation period.

The motor driver 106 controls and drives the PF motor 53 by PWM control based on the PWM signal output from the PWM signal output unit 152.

Next, the output calculation unit 140a will be described. The output calculation unit 140a executes a calculation for obtaining a motor actual output value Dx described below. The calculation of the actual motor output value Dx is (
As shown in the equation (4), basically, a duty motor (Duty (f)) required to give a predetermined tension F that gives a tension that prevents the paper P from slacking is set at a certain speed Vn. It is obtained by subtracting from Duty (ro) which is a Duty value necessary for driving 33.
Dx = Duty (ro) −Duty (f) = aVn + b− (F × r / M) × Duty (max) / Ts
... (Formula 4)
Here, r is the radius of the roll body RP, Duty (max) is the maximum value of the Duty value, Kt is the motor constant of the roll motor 33, E is the power supply voltage value supplied to the roll motor 33, and M is the gear train 32.
, Ts is the starting torque of the roll motor 33, and coefficients a and b are described later (Formula 6).
And a value defined by (Expression 7). The above (formula 4) is obtained as follows.

In (Expression 4) described above, (F × r / M) is a torque due to the tension F in consideration of the reduction ratio of the gear train, and this torque (F × r / M) is expressed by the roll motor 33. (F × r / M) / Ts, which is a dimensionless ratio (a ratio with respect to the case where Duty (max) is set to 1), is obtained by dividing by the starting torque Ts. And the dimensionless ratio (F × r / M) /
By multiplying Ts by Duty (max), Duty (f), which is a Duty value necessary to give the tension F, is calculated.

Here, the roll motor 33 is pulled through the paper P by the driving of the PF motor 53. Therefore, the roll motor 33 is driven at the same speed Vn as the PF motor 53 as a result. The output calculation unit 140a has a speed calculation unit similar to the speed calculation unit 142 of the output calculation unit 140b, and the speed calculation unit is based on the detection value detected by the rotary sensor 34b. The speed Vn is calculated.

In addition, in order to drive the roll motor 33 at the same speed Vn as that of the PF motor 53, when the Duty (ro) that is a duty value necessary for driving the roll motor 33 at the speed Vn is given, the paper P is loosened. First, no tension is applied between the roll motor 33 and the PF motor 53. Therefore, the duty required to drive the roll motor 33 at the speed Vn.
By reducing the duty value Duty (f) necessary to give the tension F from the value Duty (ro), it is possible to give the paper P a tension F that does not cause the paper P to loosen. Become. As described above, the actual motor output value Dx of (Expression 4) is obtained.

<Regarding Calculation of Coefficients a and b in (Expression 4)>
In order to obtain a duty value required to drive the roll motor 33 at a certain speed Vn, a measurement operation is performed. In this measurement operation, as shown in FIG. 10, the roll body RP is rotationally driven at a low speed VL and a high speed VH. Then, a measurement value ave TiL required to drive the roll motor 33 at the low speed VL and a measurement value ave TiH required to drive the roll motor 33 at the high speed VH are calculated.

From the relationship of the linear expression as shown in FIG. 10, the duty (ro) for driving the roll motor 33 at a certain speed Vn can be easily obtained using the coefficients a and b.
Duty (ro) = aVn + b (Formula 6)
a = (ave TiH−ave TiL) / (VH−VL) (Expression 7)
b = ave TiH− (ave TiH−ave TiL) × VL / (VH−VL) (Equation 8)

Coefficients a and b are determined based on (Equation 7) and (Equation 8) as described above, and are reflected in (Equation 4).

<Control Method for Roll Motor 33 and PF Motor 53>
Next, the operation of the control unit 100 will be described with reference to the flowchart of FIG.

In step S1, the control unit 100 executes a measurement operation. In the measurement operation, two speeds V on the low speed side and the high speed side are determined based on a command from the main control unit 110.
The roll motor 33 is driven with L and VH, and thereby the coefficients a and b for obtaining (Equation 4) as described above are obtained ((Equation 7) and (Equation 8)). When the coefficients a and b are obtained,
According to (Equation 4), the duty value Dx as the speed fluctuation threshold value can be obtained.
Note that the measurement operation is executed in a state where the PF motor 53 is not driven.

Next, in step S <b> 2, the roll motor control unit 120 and the PF motor control unit 130 start the synchro drive control process Z <b> 1 in accordance with a command from the main control unit 110.

That is, the PF motor control unit 130 drives the PF motor 53 according to, for example, the drive table Tpf shown in FIG.

As described above, the roll motor control unit 120 obtains the motor actual output value Dx based on the detection value related to the speed detected by the rotary sensor 34b and the coefficients a and b, and the roll motor 33 according to the motor actual output value Dx. Drive.

The roll motor 33 is driven (assisted) more easily than when the roll motor 33 does not generate any driving force.

A tension F is applied to the paper P. In the control of the tension F, the motor actual output value Dx as shown in (Expression 4) is obtained by the calculation as described above in the output calculation unit 140a.
Is required. Then, at this motor actual output value Dx, the roll motor 33 is at a certain speed Vn.
By subtracting Duty (f), which is the duty value necessary to give the specified tension F that gives the tension that prevents the paper P from slackening, from Duty (ro), which is the duty value necessary to drive the paper Yes. At this time, the certain speed Vn is a driving speed when the roll motor 33 is pulled through the paper P by the driving of the PF motor 53 and is rotated as a result. As described above, by reducing Duty (f) from Duty (ro), the paper P is in a state where the tension F is applied.

By the synchro drive control process Z1, the paper P is fed to a portion facing the print head 44 at a certain speed and by a certain amount with the tension F applied.

When the synchro drive control process Z1 is started in this way, the roll-side self-running prevention process Z2 is performed. That is, in step S3, the main controller 110 determines whether or not the feed speed of the paper P due to the rotation of the roll motor 33 is larger than the feed speed due to the driving of the PF motor 53. move on.

FIG. 12 shows the feed speed Vroll of the paper P due to the rotation of the roll motor 33 and the PF motor 53.
It is a figure which shows the example of transition of the feed speed Vpf by this drive. In the example of FIG. 12, since the feed speed Vroll of the paper P due to the rotation of the roll motor 33 is higher than the feed speed Vpf due to the driving of the PF motor 53 at time t1, YES is determined in step S3 at that time. Is made.

In step S <b> 4, the main control unit 110 controls the drive of the roll motor 33 instead of the roll motor control unit 120 and starts a process of braking the drive of the roll motor 33.

In FIG. 12, the transition of the motor output Om of the roll motor 33 is also shown on the same time axis, but at the time t1, the motor output Om of the roll motor 33 is suppressed to a certain amount. In FIG. 12, a dotted line extending from the time t1 along the transition of the motor output Om represents a part of the motor output Om when the braking process is not started. That is, since the motor output Om is suppressed in this way, the feed speed Vroll of the paper P due to the rotation of the roll motor 33 gradually decreases.

Thereafter, the process returns to step S <b> 3, and it is determined whether or not the feed speed of the paper P due to the rotation of the roll motor 33 is greater than the feed speed due to the driving of the PF motor 53.

In step S <b> 3, the feed speed of the paper P by the rotation of the roll motor 33 is changed to the PF motor 53.
If it is determined that the feed rate is not greater than the feed speed of the drive, the process proceeds to step S5.

In step S5, the main control unit 110 determines whether or not the driving of the roll motor 33 is being braked. If it is determined that the driving is braking, the main control unit 110 proceeds to step S6 and stops the driving of the roll motor 33.

In the example of FIG. 12, after the braking of the roll motor 33 is started at time t1, the feeding speed of the paper P due to the rotation of the roll motor 33 gradually decreases, and at time t2,
Since the feeding speed of the paper P due to the rotation of the roll motor 33 is equal to or lower than the feeding speed due to the driving of the PF motor 53, YES is determined in step S5 at that time.

In step S <b> 6, the main control unit 110 stops driving braking of the roll motor 33. Thereafter, the drive control of the roll motor 33 by the roll motor control unit 120 is resumed. Then, the process returns to step S3.

When it is determined in step S5 that the driving of the roll motor 33 is not braked, the process returns to step S3, and the subsequent processes are similarly performed. That is, when returning to step S3, step S5, and step S3, the feed speed of the paper P due to the rotation of the roll motor 33 is smaller than the feed speed due to the driving of the PF motor 53, and the roll motor 33 and the PF motor 53 The drive control is performed normally.

The processing as described above is performed in the control unit 100. For example, when a command to stop printing is input, or when the paper P is fed by a predetermined feed amount, this process ends.

As described above, the feeding speed of the paper P by the rotation of the roll motor 33 (that is, the feeding speed of the paper P from the roll body RP by the roll driving mechanism 30) is the feeding speed by the driving of the PF motor 53 (that is, the paper transport mechanism 50). When the paper P is pulled out by
Since the drive of the roll motor 33 is braked, the paper P can be prevented from slackening between the roll drive mechanism 30 and the paper transport mechanism 50 as shown in FIG.

Large format printers such as the printer 10 are often used for business purposes. For this reason, the user (that is, the operator) frequently operates the printer 10, and for example, the operator may accidentally touch the roll body RP, for example, during the measurement operation. For example, if a load other than its own weight is applied to the roll body RP during the measurement operation, as shown in FIG. 13, the measurement value ave TiL and the measurement value ave TiH are larger than the values that should be originally obtained. The straight line L2 shown in FIG. 13 is the same as the straight line shown in FIG.
It shows the relationship between the duty value and speed that should be obtained. A straight line L1 illustrated in FIG. 13 indicates the relationship between the duty value and the speed when the operator touches the roll body RP and a load other than its own weight is applied to the roll body RP.

When the measurement value ave TiL and the measurement value ave TiH increase, the duty value required to drive the roll motor 33 at the speed Vn also increases. When the duty value is used for drive control of the roll motor 33, naturally, The roll motor 33 rotates at a speed higher than the original speed, and as a result, the feed speed of the paper P due to the rotation of the roll motor 33 is also increased and is greater than the feed speed due to the driving of the PF motor 53.

Considering the usage environment in a large format printer such as the printer 10,
Since the feeding speed of the paper P due to the rotation of the roll motor 33 may be larger than the feeding speed due to the driving of the PF motor 53, the feeding speed of the paper P due to the rotation of the roll motor 33 is the feeding speed due to the driving of the PF motor 53. It is very useful to brake the drive of the roll motor 33 when it becomes faster than the speed.

Further, as shown in FIG. 8, the paper P between the roll drive mechanism 30 and the paper transport mechanism 50 is used.
If the paper P is loosened, the paper P may be deformed, or the loose paper P may be damaged by touching a part of the casing of the printer 10 or the like. Further, if the paper P hangs down as shown in FIG. 8, it also affects the transport speed of the paper P by the paper transport mechanism 50, which causes a decrease in print quality. However, if the slack of the paper P between the roll drive mechanism 30 and the paper transport mechanism 50 can be prevented as in the present embodiment, such a problem can be prevented.

In the above description, when the feed speed of the paper P due to the rotation of the roll motor 33 becomes larger than the feed speed due to the drive of the PF motor 53, the drive of the roll motor 33 is braked. When the feed by is stopped, the braking of the roll motor 33 can be started.

FIG. 14 shows the feed speed Vroll of the paper P by the rotation of the roll motor 33 and the PF motor 53.
It is a figure which shows the other example of transition of the feed speed Vpf by this drive. FIG. 14 shows the roll motor 3
The transition of the motor output Om of 3 is also shown on the same time axis.

That is, in the example of FIG. 14, when the driving of the PF motor 53 is stopped (time t3), the braking of the driving of the roll motor 33 is started. As described above, when the driving of the PF motor 53 is stopped (time t3), since the braking of the driving of the roll motor 33 is started immediately, even if the paper feeding is temporarily stopped, The paper P does not loosen between the paper transport mechanisms 50.

For example, when performing new printing with different printing speeds, normally, after the paper feed is once stopped, the next printing based on the new printing conditions is started. At this time, if the paper P is slackened between the roll drive mechanism 30 and the paper transport mechanism 50, the operator needs to perform operations such as manually turning the roll body RP and winding up the slack. That is, it takes a certain time to start the next printing. However, as in this embodiment, the roll drive mechanism 30 and the paper transport mechanism 5
If the slack of the paper P between 0 can be prevented, such a winding operation becomes unnecessary, and the next printing can be started quickly.

In the above description, the feed speed of the paper P by the rotation of the roll motor 33 and the feed speed by the driving of the PF motor 53 are compared, and the timing for braking the drive of the roll motor 33 is determined. Can also be determined based on

For example, the feed amount of the paper P by the drive of the roll motor 33 is the same as the paper P by the PF motor 53.
When the feed amount exceeds the value, braking of the roll motor 33 can be started. Note that the feed amount of the paper P is calculated by the position calculation unit 141 and can be used.

In the above, the self-running of the roll side is caused by a load on the roll body RP at the time of measurement and an erroneous measurement result is obtained, but even if the measurement is performed normally, the error Depending on the size, self-running on the roll side may occur. Further, even if the operation of the printer 10 is normal, the roll side self-run may occur if the operator accidentally turns the roll body RP by hand during operation. In the present embodiment, if roll-side self-run occurs regardless of the reason, braking of the roll motor 33 is started.

In the above description, the case where the roll motor control unit 120 performs the assist control on the roll motor 33 has been described as an example. However, when the drive of the roll motor 33 is not controlled at all in the normal printing process, the PF motor The present invention can also be applied to the case where the synchronous drive with 53 is positively controlled.

Further, the case where the motor control device is provided in the printer 10 has been described above. However, the motor control device is not limited to being provided in the printer 10, and may be applied to a fax machine using a roll body (roll paper). In the above-described embodiment, the paper P is roll paper, but the roll paper is not limited to the paper P.
A film-like member, a resin sheet, an aluminum foil, or the like may be used.

Further, the control unit 100 is not limited to the above-described embodiment, and for example, the ASIC 105
The control unit 1 may be configured to control the roll motor 33 and the PF motor 53 alone, or in combination with a one-chip microcomputer incorporating various peripheral devices in addition to these.
00 may be configured.

The printer 10 in the above-described embodiment may be a part of a complex device such as a scanner device or a copy device. Furthermore, in the above-described embodiment, the ink jet printer 10 has been described. However, as the printer 10,
The printer is not limited to an ink jet printer as long as it can eject a fluid. For example, the present invention can be applied to various printers such as a gel jet printer, a toner printer, and a dot impact printer.

1 is a perspective view illustrating a configuration of a printer according to an embodiment of the present invention. It is a figure which shows schematic structure of the printer of FIG. It is a figure which shows the positional relationship of a roll body, a conveyance roller pair, a paper, and a print head. It is a perspective view which shows the structure of the rotation holder holding a roll body. It is a figure which shows an ENC signal. It is a block diagram which shows an example of a structure of a control part. It is a figure which shows an example of a drive table. FIG. 10 is another diagram illustrating a positional relationship between a roll body, a conveyance roller pair, a sheet, and a print head. It is a block diagram which shows schematic structure of an output calculating part. It is a figure which shows the relationship between the Duty value and speed | velocity | rate in measurement operation | movement. It is a figure which shows the operation | movement flow of a control part. FIG. 6 is a diagram illustrating an example of transition of a sheet feeding speed by driving a roll motor and a feeding speed by driving a PF motor. It is another figure which shows the relationship between the Duty value and speed in measurement operation | movement. FIG. 6 is a diagram illustrating an example of transition of a sheet feeding speed by driving a roll motor and a feeding speed by driving a PF motor.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Printer, 20 ... Main-body part, 30 ... Roll drive mechanism, 33 ... Roll motor (corresponding to a 1st motor, 34, 54 ... Rotation detection part, 34b, 54b ... Linear sensor, 40 ... Carriage drive mechanism, 44 ... Printing Head (corresponding to fluid ejecting head), 50... Paper transport mechanism, 51.
Conveying roller pair, 53... PF motor (corresponding to the second motor), 100... Control unit (corresponding to motor control device, synchronization control means, tension control means), 110... Main control unit, 120. ... output correction unit, 130 ... PF motor control unit, 140a, 140b ... output calculation unit, 149 ... integral correction unit, 151 ... final output correction unit, RP ... roll body, P ... paper (
Compatible with roll paper)

Claims (4)

A first motor for providing a driving force for rotating the roll body to supply the roll paper from the roll body around which the roll paper is wound;
A second motor for supplying a driving force for driving a transport driving roller for transporting the roll paper, which is a transport driving roller provided on the downstream side of the roll body along the supply direction of the roll paper;
First control means for controlling the driving of the second motor;
Second control means for controlling the driving of the first motor that rotates as the roll paper is conveyed by the second motor;
The second control means includes
When the feed speed of the roll paper by the rotation of the first motor becomes larger than the feed speed of the roll paper by the driving of the second motor, or the feed amount of the roll paper by the rotation of the first motor is the first speed. When the roll paper feed amount is increased by driving two motors,
The motor control device according to claim 1, wherein braking of driving of the first motor is started. The motor control device according to claim 1, wherein the second control unit starts braking the driving of the first motor when the feeding of the roll paper by the driving of the second motor is stopped. While comprising the motor control device according to claim 1,
A fluid ejecting apparatus comprising: a fluid ejecting head that ejects a fluid onto the roll paper. A first motor for providing a driving force for rotating the roll body to supply the roll paper from the roll body around which the roll paper is wound;
A motor provided with a second motor for supplying a driving force for driving a transport driving roller for transporting the roll paper, which is a transport drive roller provided downstream of the roll body along the supply direction of the roll paper A motor control method for a control device, comprising:
A first control step for controlling the driving of the second motor;
A second control step for controlling the driving of the first motor that rotates as the roll paper is conveyed by the second motor,
In the second control step, the feed speed of the roll paper by the rotation of the first motor is set to the second speed.
When the roll paper feed rate by driving the motor becomes larger than the roll paper feed amount by the rotation of the first motor or more than the roll paper feed amount by the second motor driving, A motor control method comprising: starting braking of driving of the first motor.

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