JP2010131798A - Abnormality detecting method, physical quantity control method, abnormality detecting system, physical quantity control system, and inkjet recording device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an abnormality detecting system capable of accurately detecting abnormality when the physical quantity on an object slowly fluctuates as well as when the physical quantity on the object suddenly fluctuates like the case of the object and an obstacle colliding against each other. <P>SOLUTION: The abnormality detecting system 1 or 10 includes: a physical quantity detecting means 2 detecting the physical quantity A(t) on the object; a time variation part computing means 4 computing a time variation part C(t, dt) which is the difference between the physical quantity A(t) on the present object and the physical quantity A(t-dt) on the object before the present by a predetermined time interval dt based on the physical quantity A(t) on the object detected by the physical quantity detecting means 2; and an abnormality detecting means 5 detecting the abnormality of the physical quantity A(t) on the object when comparing the time variation part C(t, dt) computed by the time variation part computing means 4, with a preset threshold D(dt) and determining that the compared result fulfills preset conditions. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an abnormality detection method, a physical quantity control method, an abnormality detection system, a physical quantity control system, and an ink jet recording apparatus.

  Provided on one end of the recording head as an image recording apparatus capable of recording images not only on ordinary recording media such as paper and fabrics but also on recording media with poor ink absorption such as resin films and metals. An ink jet recording apparatus that records an image by ejecting ink from a plurality of nozzles and landing on a recording medium has been developed, and the technology is currently applied in various technical fields (for example, Patent Document 1). Etc.).

  Ink jet recording apparatuses are generally roughly classified into a line head type and a serial head type. In particular, in the case of the serial head type ink jet recording apparatus 100, as shown in FIG. A plurality of recording heads 102 are mounted on the storage device.

  Then, the recording medium S placed on the support plate or the conveyor belt 103 while reciprocally moving (that is, main scanning) the recording head 102 together with the carriage 101 in the so-called main scanning direction X using a servo motor (not shown) as a drive source. In contrast, an image is recorded on the recording medium S by ejecting ink from the nozzles 104 of the recording head 102.

  At that time, the carriage 101 or the recording head 102 is caught by the end of the recording medium S floating from the conveyance belt 103 or the like, and the recording medium S is caught between the carriage 101 or the recording head 102 or the like and the conveyance belt 103 or the like. A so-called jam J is produced. When a jam J occurs, ink is ejected from the nozzles 104 of the recording head 102 even if the recording medium S does not exist below, and the conveying belt 103 and the like are contaminated. Etc. will be damaged.

  Therefore, when a jam J occurs, it is detected promptly, the rotation drive of the servo motor or the like is stopped, the movement (main scanning) of the carriage 101 or the recording head 102 is stopped, and the nozzle 104 of the recording head 102 is stopped. It is necessary to stop the ejection of ink from the ink.

  In general, when a problem occurs due to the movement of the object in this way, as a technique for detecting the failure and stopping the movement of the object or moving the object in the opposite direction, for example, a patent Techniques described in Documents 2 and 3 are known.

In these patent documents, when an obstacle or a human body is sandwiched between doors and windows of an automobile that automatically opens and closes, the current value of the motor that drives the opening and closing of the doors and windows suddenly increases or the rotation speed suddenly increases. Based on the decrease, the pinching weight is calculated using the differential value of the motor current value, the differential value of the rotational speed, etc., and when the pinching weight exceeds a predetermined threshold, the motor is reversed to A technique for releasing the pinching of obstacles and human bodies in the window is described.
JP 2006-150652 A JP 7-163169 A JP-A-7-163170

  By the way, also in the above-described ink jet recording apparatus 100, when the carriage 101 or the like collides with an obstacle or the like placed on the conveyance belt 103 or the recording medium S, the moving speed of the carriage 101 or the like in the main scanning direction X. However, even if the pinching weight is not calculated, the current value of the servo motor, the differential value of the rotation speed, the movement of the carriage 101, etc., as in the techniques described in Patent Documents 2 and 3 described above, By calculating and monitoring the differential value of the speed, the collision can be detected relatively easily and the movement of the carriage 101 and the like can be stopped.

  However, when a jam J occurs in the ink jet recording apparatus 100 as described above, the current value or rotational speed of the servo motor or the moving speed of the carriage 101 or the like does not change so rapidly and rises slowly. Or decrease. Therefore, even if those differential values are calculated, the differential values only increase or decrease somewhat, and the occurrence of jam J cannot be detected with high accuracy.

  The occurrence of a jam J is detected only at a stage where the carriage 101 and the like are obstructed by the jam J so that the carriage 101 can hardly move. As a result, the carriage 101, the recording head 102, etc. are damaged.

  Therefore, for example, it may be possible to lower the threshold value for the differential value such as the current value or rotation speed of the servo motor or the moving speed of the carriage 101, etc., and set it to a small value. There arises a problem that a fluctuation in rotational speed, movement speed, or the like in normal operation of the motor, carriage 101, or the like is erroneously detected as occurrence of jam J.

  Then, the movement of the carriage 101 does not need to be stopped, so that it is stopped. For this reason, the image recording has to be performed again even though the image is accurately recorded on the recording medium S. Thus, there arises a problem that the recording medium S on which the image has been accurately recorded must be discarded wastefully.

  Therefore, the inventors studied a method for accurately detecting the collision with the obstacle such as the carriage 101 and the occurrence of the jam J. The physical quantity related to the object fluctuates slowly, such as when the movement speed of the carriage 101, the current value of the servo motor, the rotation speed, etc. in the above case fluctuates abruptly or when a jam J occurs. The knowledge about the abnormality detection method and the abnormality detection system that both accurately detect the case where the fluctuation is larger than the normal operation is obtained.

  Further, by applying these abnormality detection method and abnormality detection system to a motor such as the above-described ink jet recording apparatus, in particular, an apparatus using a servo motor having a servo mechanism as a drive source, the effect is exhibited particularly effectively. I found out. In particular, in an ink jet recording apparatus using a servo motor, it has been found that it is possible to accurately detect the occurrence of a jam as well as a collision with an obstacle such as a carriage as described above.

  The present invention has been made in view of the above-described problems and knowledge, and the physical quantity related to the object is not limited to the case where the physical quantity related to the object fluctuates rapidly as in the case where the object collides with the obstacle. An object of the present invention is to provide an abnormality detection method and an abnormality detection system capable of accurately detecting an abnormality when slowly changing, and a physical quantity control method for controlling the physical quantity based on the detection of the abnormality It is another object of the present invention to provide a physical quantity control system, and an inkjet recording apparatus to which the abnormality detection method, abnormality detection system, physical quantity control method, and physical quantity control system described above are applied.

In order to solve the above problem, the abnormality detection method of the present invention is:
A physical quantity detection step for detecting a physical quantity related to the object;
Based on the physical quantity related to the object detected in the physical quantity detection step, a time variation that is a difference between the physical quantity related to the current object and the physical quantity related to the object before a predetermined time interval from the current A time variation calculation step for calculating all time intervals within a predetermined time range as a function of the time interval;
When the time variation as a function of the time interval calculated in the time variation calculation step is compared with a preset threshold, and the comparison result satisfies a preset condition, the object relates to the object An anomaly detection step for detecting an anomaly in the physical quantity;
It is characterized by having.

Further, the abnormality detection method of the present invention includes:
A physical quantity detection step for detecting a physical quantity related to the object;
Based on the physical quantity related to the object detected in the physical quantity detection step, a time variation that is a difference between the physical quantity related to the current object and the physical quantity related to the object before a predetermined time interval from the current time is determined by a plurality of different ones. A time variation calculating step for calculating each of the time intervals;
The physical quantity related to the object when the time fluctuation calculated at the time fluctuation calculation step and the time fluctuation for each time interval are compared with a preset threshold and the comparison result satisfies a preset condition. An anomaly detection step for detecting anomalies;
It is characterized by having.

Further, the physical quantity control method of the present invention includes:
A physical quantity control method using the above abnormality detection method,
When an abnormality of a physical quantity related to the object is detected in the abnormality detection step in the abnormality detection method, a control at the time of abnormality set in advance is performed for a drive control unit that drives the object and controls the physical quantity related to the object. An abnormal time control step is provided.

The abnormality detection system of the present invention is
Physical quantity detection means for detecting a physical quantity related to the object;
Based on the physical quantity related to the object detected by the physical quantity detection means, a time variation that is a difference between the physical quantity related to the current object and the physical quantity related to the object that is a predetermined time interval before the present A time variation calculating means for calculating all time intervals within a predetermined time range as a function of the time interval;
When the time variation as a function of the time interval calculated by the time variation calculation means is compared with a preset threshold, and when it is determined that the comparison result satisfies a preset condition, An anomaly detecting means for detecting an anomaly of the physical quantity related to the object;
It is characterized by providing.

The abnormality detection system of the present invention is
Physical quantity detection means for detecting a physical quantity related to the object;
Based on the physical quantity related to the object detected by the physical quantity detection means, a time variation that is a difference between the physical quantity related to the current object and the physical quantity related to the object before a predetermined time interval from the current time, Time fluctuation calculating means for calculating each of the time intervals;
When the time variation calculated for each time interval calculated by the time variation calculation means is compared with a preset threshold, and when it is determined that the comparison result satisfies a preset condition, An anomaly detecting means for detecting an anomaly of a physical quantity related to an object;
It is characterized by providing.

The physical quantity control system of the present invention is
A physical quantity control system using the above abnormality detection system,
Furthermore, drive control means for driving the object and controlling a physical quantity related to the object is provided,
The drive control means performs control at the time of abnormality set in advance when the abnormality detection means detects a physical quantity abnormality relating to the object.

Further, the ink jet recording apparatus of the present invention is
An ink jet recording apparatus using the above physical quantity control system,
further,
A recording head for ejecting ink to the recording medium;
A carriage mounted with the recording head and moving in the main scanning direction above the recording medium;
With
A motor drive control unit including a servo mechanism of the servo motor that is the drive control unit stops rotation of the servo motor as control at the time of the abnormality when the abnormality detection unit detects an abnormality of the physical quantity related to the object. Thus, the movement of the carriage in the main scanning direction is stopped.

Further, the ink jet recording apparatus of the present invention is
An inkjet recording apparatus using the above abnormality detection system,
further,
A recording head for ejecting ink to the recording medium;
A carriage mounted with the recording head and moving in the main scanning direction above the recording medium;
With
Using the abnormality detection system as an edge / wrinkle detection system of the recording medium,
The physical quantity related to the object in the abnormality detection system is a distance between the carriage and the recording medium,
The physical quantity detection means of the abnormality detection system detects a distance between the carriage and the recording medium,
The abnormality detection unit of the abnormality detection system detects an end portion and a wrinkle of the recording medium as an abnormality of a physical quantity related to the object.

  According to the abnormality detection method, physical quantity control method, abnormality detection system, physical quantity control system, and inkjet recording apparatus of the present invention, for example, when a hard obstacle collides with the carriage of the inkjet recording apparatus, the time of a small time interval If the fluctuation exceeds the threshold, for example, if an obstacle with a light weight collides with the carriage, the time fluctuation of the intermediate time interval exceeds the threshold, and the interval between the carriage and the conveyance belt When a jam occurs due to the recording medium being involved, or when the obstacle that collided is a soft object, it is possible to allow the time fluctuation of a relatively large time interval to exceed the threshold. Become.

  Therefore, not only when the physical quantity relating to the object fluctuates abruptly, such as when an object (for example, a carriage) collides with an obstacle, but the physical quantity relating to the object is slow, such as when a jam occurs in an inkjet recording apparatus. Even in such a case, it is possible to accurately detect an abnormality in a physical quantity related to an object.

  Embodiments of an abnormality detection method, a physical quantity control method, an abnormality detection system, a physical quantity control system, and an ink jet recording apparatus according to the present invention will be described below with reference to the drawings.

  Hereinafter, the abnormality detection method according to the present embodiment will be described together with the abnormality detection system according to the present embodiment. FIG. 1 is a flowchart showing a processing procedure of the abnormality detection method according to the present embodiment.

[Abnormality detection system and abnormality detection method]
[First Embodiment]
As shown in FIG. 2, the abnormality detection system 1 according to the first embodiment mainly includes a physical quantity detection unit 2, a time variation calculation unit 4, and an abnormality detection unit 5. In the present embodiment, a storage unit 3 and a filter unit 6 are provided. The filter means 6 (filtering step S2) and the storage means 3 are not necessarily provided.

  The physical quantity detection means 2 detects a physical quantity A (t) related to the object (physical quantity detection step S1).

  In the following, a case where the object is a carriage in the ink jet recording apparatus and the physical quantity A (t) is the moving speed of the carriage in the main scanning direction will be described as an example. However, the present invention is not limited to this case.

  That is, the physical quantity A (t) related to the object includes not only the moving speed of the carriage in the main scanning direction but also the current value and rotation speed of the servo motor for moving the carriage in the main scanning direction. In addition, in the case of an ink jet recording apparatus, for example, a recording medium conveyance speed, a flow speed of ink supplied to a recording head, or the like may be used.

  Further, the physical quantity A (t) relating to the object is not limited to that relating to the ink jet recording apparatus. For example, the moving speed of the door or window of an automobile that automatically opens and closes described in Patent Documents 2 and 3 described above and the motor This is a wide concept including the rotation speed of the current value.

  In the following, a case where the drive source for moving the carriage in the main scanning direction is a servo motor will be described as an example. However, the present invention is not limited to this case, and includes a case of a normal motor. Further, the drive source is not limited to one driven by a rotational drive such as a motor. For example, a linear operation such as a linear movement operation of a piston in a hydraulic cylinder or a pneumatic cylinder used in an industrial robot or the like is performed. It may be a drive source.

  As described above, when the physical quantity A (t) relating to the object is the moving speed in the main scanning direction of the carriage in the ink jet recording apparatus, the physical quantity detection unit 2 detects, for example, a linear scale mark extending in the main scanning direction. And a linear encoder that detects linear scale marks by a linear encoder sensor, and an FV (Frequency to Voltage) converter that converts the frequency of a pulse signal that is output by detecting the linear scale mark into a moving speed of the carriage. Note that processing such as A / D conversion of the physical quantity A (t) related to the object is appropriately performed.

  In the present embodiment, since fine noise is added to the actual measurement value of the carriage moving speed output from the FV converter constituting the physical quantity detection unit 2, the physical quantity A (t) related to the object output from the physical quantity detection unit 2 Filter means 6 is provided for smoothing the actually measured value of the carriage moving speed (filtering step S2).

  In order to remove noise from the actual measurement value of the physical quantity A (t) related to the object output from the physical quantity detection means 2, the filter means 6 (filtering step S2) is often provided, but the noise is scarce. When an actual measured value of the physical quantity is obtained, it is not always necessary to provide the filter means 6 (filtering step S2).

  In the physical quantity detection means 2 (physical quantity detection step S1), a plurality of physical quantities A (t) related to the object (or physical quantities B (t) related to the object flattened by the filtering means 6 (filtering step S2)) at each sampling timing. Is detected, the average value, median value, etc. are calculated based on the plurality of values, and the physical quantities A (t) and B (t) related to the object at the sampling timing are not shown. It is also possible to provide a calculation means (physical quantity calculation step).

  For example, when the moving speed of the carriage of the ink jet recording apparatus is detected by a linear encoder as described above and the linear encoder outputs, for example, a three-phase signal value, the rotation speed of the servo motor is set to, for example, two or three. In the case of outputting a phase signal value, it is preferable that the physical quantity calculation means (physical quantity calculation step) is provided.

  In the present embodiment, when the measured value of the carriage moving speed, which is a physical quantity related to the object, is smoothed by the filter means 6 (filtering step S2), the physical quantity B (t) related to the flattened object (hereinafter simply referred to as the physical quantity related to the object). The carriage movement speed, which is a physical quantity B (t)), is stored in time series in the storage means 3 constituted by a shift register, a RAM (Random Access Memory), etc., and is also stored in the time variation calculation means 4. It is supposed to be sent.

  Based on the history of the physical quantity B (t) related to the object stored in the storage means 3, the time variation calculation means 4 and the transmitted physical quantity B (t) related to the current object and a predetermined time interval from the present time The time variation C (t, dt), which is the difference from the physical quantity B (t−dt) related to the previous object by dt, for the entire time interval dt within the predetermined time range Rt set in advance before the present time. The time interval dt is calculated as a function C (t, dt) (time fluctuation calculation step S3). This will be specifically described below.

  For example, in the example of the ink jet recording apparatus described above, when the carriage collides with an obstacle, the physical quantity relating to the object as the moving speed of the carriage as shown in FIG. 3 is detected by the physical quantity detection means 2 (physical quantity detection step S1). A (t) is detected. Then, when it is smoothed by the filter means 6 (filtering step S2), a physical quantity B (t) relating to the object as shown in FIG. 4 is obtained. The storage unit 3 stores the physical quantity B (t) related to the object shown in FIG. 4 in time series, that is, for example, every sampling timing.

  In the time fluctuation calculation means 4 (time fluctuation calculation step S3), when the physical quantity B (t) relating to the current object is transmitted from the filter means 6, first, the storage means 3 firstly sends a predetermined time interval dt from the present time. The data of the physical quantity B (t-dt) relating to the previous object is read up to the predetermined time range Rt. That is, the predetermined time range Rt is the maximum value that can be taken by the predetermined time interval dt.

In FIG. 5, the horizontal axis of the graph in FIG. It is a graph explaining the relationship. In FIG. 5, the time variation C (t, dt) which is the difference between B (t) and B (t−dt), that is,
C (t, dt) = B (t) −B (t−dt) (1)
Also shown.

In the time variation calculation means 4 (time variation calculation step S3), the time variation C (t, dt) at the current time t is thus calculated as the time interval for all time intervals dt up to the predetermined time range Rt. It is calculated as a function of dt. The time variation C (t, dt) is changed to the above equation (1),
C (t, dt) = B (t−dt) −B (t) (2)
It is also possible to configure so as to calculate as follows.

  In this way, with respect to each time interval dt in the time range Rt, the amount of time fluctuation as a difference between the physical quantity B (t) related to the current object and the physical quantity B (t−dt) related to the object before the time interval dt from the current time. When C (t, dt) is continuously calculated, the time variation C (t, dt) of each time interval dt changes as shown in the graphs shown in FIGS. 6 and 7, for example, at time t.

  6A shows a time interval dt = 0.02 seconds, FIG. 6B shows dt = 0.05 seconds, FIG. 6C shows dt = 0.10 seconds, and FIG. 7A shows dt. = 0.20 seconds, (B) shows the case of dt = 0.38 seconds, and (C) shows the case of dt = 0.70 seconds.

  In the abnormality detection unit 5 (abnormality detection step S4), each time variation C (t, t, calculated as a function of each time interval dt in the time variation calculation unit 4 (time variation calculation step S3) as described above. dt) is compared with a preset threshold value D. When it is determined that the comparison result satisfies a preset condition, an abnormality of the physical quantity A (t) (or B (t)) related to the object is detected.

  In this embodiment, when an abnormality of the physical quantity A (t) (or B (t)) related to the object is detected, an abnormality detection signal E (t) is output as shown in FIG.

  In FIGS. 6 and 7 described above, when each time interval dt is fixed, the transition of the time variation C (t, dt) for each time interval dt at time t is shown. Is fixed, and the time variation C (t, dt) at a certain time t is illustrated with respect to the time interval dt, for example, as shown in the graph of FIG.

  The time variation C (t, dt) for each time interval dt fluctuates up and down on the graph at each time t. In FIG. 8, the time variation C (t, dt) has a positive value for all the time intervals dt, but may have a negative value.

  In this embodiment, a threshold function D (dt) having each time interval dt as a variable as shown in FIG. 8 is set in advance as a threshold for all the time intervals dt within the predetermined time range Rt. . The threshold function D (dt) is stored in the storage unit 3, and the abnormality detection unit 5 reads the threshold function D (dt) from the storage unit 3 when the abnormality detection process according to the present embodiment is started. It has become.

  In the present embodiment, the abnormality detection means 5 (abnormality detection step S4) calculates the time variation C (t, dt) and the total time interval dt within the predetermined time range Rt before the current time (time t). The physical quantity related to the object when it is determined that the condition that a time interval dt in which the time variation C (t, dt) exceeds the threshold function D (dt) exists is compared with the threshold function D (dt). An abnormality in A (t) is detected.

  As described above, since the time variation C (t, dt) may take a negative value, for example, as shown in FIG. 9, each time variation calculation unit 4 (time variation calculation step) The absolute value | C (t, dt) | of the time variation C (t, dt) is calculated, and the abnormality detecting means 5 (abnormality detection step S4) calculates the absolute value of each time variation C (t, dt) | It can be configured to compare C (t, dt) | with a threshold function D (dt) taking a positive value.

Further, as shown in FIG. 10, for example, a threshold function D ₊ (dt) that takes a positive value and a threshold function D ₋ (dt) that takes a negative value are provided as the threshold function, and the abnormality detection means 5 In (abnormality detection step S4), a time range C (t, dt) is divided by a threshold function D ₊ (dt) and a threshold function D ₋ (dt) (each time interval dt in the graph of FIG. 10). Time interval dt exceeding the numerical range in the vertical direction), that is, the time variation C (t, dt) is greater than the threshold function D ₊ (dt) or smaller than the threshold function D ₋ (dt). When it is determined that the time interval dt exists, it is also possible to detect an abnormality of the physical quantity A (t) related to the object.

In the case of Figure 10, always threshold function _D - (dt) of the need not to absolute value is set equal to the threshold function _D + (dt), the threshold function _D + (dt) and threshold function D _- (Dt) may be set independently. Whether the determination condition in the abnormality detection means 5 (abnormality detection step S4) is determined by any of the methods shown in FIGS. 8 to 10 or different from any of the methods shown in FIGS. Is appropriately determined so that the abnormality of the physical quantity A (t) related to the object is accurately detected.

  Next, the operation of the abnormality detection method and abnormality detection system according to this embodiment will be described.

  For example, as the physical quantity A (t) related to the object, the carriage movement that moves in the main scanning direction by the rotational drive of the servo motor in the inkjet recording apparatus (for example, the inkjet recording apparatus 100 shown in FIG. 32) as in the above example. When detecting the speed, if the carriage collides with a light obstacle placed on the recording medium or the conveyor belt, as shown in FIG. 3, the physical quantity A related to the object is obtained at the moment of the collision. The carriage moving speed A (t), which is (t), decreases.

  The servo motor, for example, takes a proportional change (P), integral value (I), and differential value (D) to obtain a target value for fluctuations in the rotational speed detected by a rotary encoder attached to the output shaft of the servo motor. When the movement speed A (t) decreases and the decrease in the rotation speed of the output shaft detected by the rotary encoder is fed back to the servo mechanism, the servo motor rotates. The number increases, and the carriage moving speed A (t) increases.

  In this way, the carriage continues to move while pushing the light obstacle that has collided in the main scanning direction while periodically raising and lowering the moving speed A (t) for a while. Then, the moving speed A (t) gradually converges to the original moving speed, that is, the target moving speed. This state is shown in the graph of FIG.

  In the physical quantity detection means 2 (physical quantity detection step S1), the carriage moving speed (physical quantity related to the object) A (t) that fluctuates in this way is detected using, for example, a linear encoder or an FV converter. When the carriage does not collide with an obstacle or the like and moves normally, a moving speed that gently changes before the movement speed A (t) fluctuates greatly due to the collision is detected in FIG. .

  Then, the filter means 6 (filtering step S2) generates a smoothed carriage movement speed B (t) by removing noise from the measured value of the carriage movement speed A (t). The physical quantity B (t) relating to the object that is output every moment is stored in the storage means 3 in time series, that is, for example, at every sampling timing.

  Further, in the time fluctuation calculation means 4 (time fluctuation calculation step S3), when the physical quantity B (t) relating to the current object is transmitted from the filter means 6, the storage means 3 sends a predetermined time interval dt from the present time. The data of the physical quantity B (t-dt) relating to the previous object is read out up to the predetermined time range Rt, and the physical quantity B (t) relating to the current object and the object before the time interval dt from the present time are read for each time interval dt. A time variation C (t, dt) that is a difference from the physical quantity B (t−dt) is calculated according to the above equation (1) (or the above equation (2)).

  Therefore, in the case of the present embodiment, the time variation C (t, dt) is calculated as a function of the time interval dt as shown in FIGS. When the time t changes and the above-described physical quantity detection step S1 and time variation calculation step S3 are repeated, the time variation C (t, dt) for each time interval dt shown in FIGS. However, it fluctuates in the vertical direction on the graph according to the transition of time t.

  The vertical variation on the graph of the time variation C (t, dt) for each time interval dt is, for example, the time interval dt = 0.38 shown in FIG. 11 which is the same graph as FIG. 7B. In the graph in seconds, it is equal to the variation in the value of the time variation C (t, dt) when the time t is shifted in the right direction of the graph.

In the abnormality detection means 5 (abnormality detection step S4), for example, as shown in FIG. 12, the threshold value function D (dt) in which the time variation C (t, dt) varying at each time interval dt is set in advance as described above. It is monitored whether or not there is a time interval dt ^* exceeding), and if it is determined that such a time interval dt exists, an abnormality of the physical quantity A (t) related to the object is detected.

The absolute value | C (t, dt) | of each time variation C (t, dt) is compared with a threshold function D (dt) that takes a positive value, or a threshold that takes a positive value as a threshold function. A function D ₊ (dt) and a threshold function D ₋ (dt) taking a negative value are provided, and the time variation C (t, dt) is the threshold function D ₊ (dt) and the threshold function D ₋ (dt). As described above, it can be configured to monitor whether or not the numerical value range defined by and is exceeded. In the following, a case where a threshold function D ₊ (dt) that takes a positive value and a threshold function D ₋ (dt) that takes a negative value are provided as representative threshold functions will be described.

As shown in FIG. 10 and FIG. 12 (or FIG. 8 and FIG. 9), the threshold functions D ₊ (dt) and D ₋ (dt) (or one threshold function D (dt)) are obtained for each time interval dt. The provision of the time variation C (t, dt) for each time interval dt shown in FIGS. 6A to 6C and FIGS. As shown in FIGS. 13 (A) to (C) and FIGS. 14 (A) to (C), which are the same graphs as A) to (C) and FIGS. 7 (A) to (C), each depends on time t. It means that constants D ₊ (dt) and D ₋ (dt) are not set.

That is, as shown in FIGS. 13 (A) to (C) and FIGS. 14 (A) to (C), which are the same graphs as FIGS. 6 (A) to 6 (C) and FIGS. 7 (A) to (C), When viewed at each time interval dt, a positive constant D ₊ (dt) and a negative constant D ₋ (dt at each time interval dt with respect to the time variation C (t, dt) that fluctuates at time t. ) Means that each has been set.

Then, in this case, as shown in FIG. 14 (B), time change C (t, dt) is negative constant _D - is (dt) the below time interval ^dt * ^(dt = 0.38 seconds) for present, the abnormality detecting means 5 (abnormality detection step S4), and time change C (t, dt) in the time interval dt = 0.38 seconds negative constant _D - (dt) at the time ^{t *} falls below the An abnormality of the physical quantity A (t) related to the object is detected, and an abnormality detection signal E (t) is output at time t ^* (see FIG. 2).

In the above, since as described with reference to FIGS. 13 and 14, the time in which variation C (t, dt) is the threshold function _D + and (dt) threshold function _D - numbers are partitioned out with (dt) An abnormality of the physical quantity A (t) related to the object is detected at time t ^* when the time interval dt = 0.38 seconds in FIG. 14B exceeding the range, and an abnormality detection signal E (t) is detected at time t ^*. The case of outputting was described.

However, in the present embodiment, as described above, the time variation C (t, dt) is calculated for all time intervals dt within a predetermined time range Rt set in advance before the present time, and the total time intervals dt It is determined whether or not the time variation C (t, dt) exceeds a numerical range defined by the threshold function D ₊ (dt) and the threshold function D ₋ (dt).

Therefore, the time variation C (t, dt) becomes the threshold function D ₊ (dt) and the threshold function D at a time earlier than the time t ^{* in} the case of the time interval dt = 0.38 seconds shown in FIG. _- If the time interval dt exceeding the compartmentalized the numerical range out with (dt) is present, abnormal physical quantity a (t) relating to an object in the earliest time is detected, the time to the abnormality detection signal E (t) Is output.

  By the way, in the physical system as described above, that is, in the ink jet recording apparatus, when the carriage collides with an obstacle having a light weight as described above, the time at each time interval dt as shown in FIGS. A variation C (t, dt) is detected.

  Then, as can be seen by comparing the graphs of FIGS. 13A to 13C and FIGS. 14A to 14C, the time interval dt shown in FIG. 14B is 0.38 seconds. However, the amplitude in the vertical direction of the time variation C (t, dt) is the largest. In the above example, among all the time intervals dt including the time intervals dt other than the time intervals dt shown in FIG. 13 and FIG. 14, the time variation C ( The amplitude in the vertical direction of t, dt) is the largest.

  As shown in FIG. 15 which is the same graph as FIG. 4, this is the time when the carriage movement speed (physical quantity related to the object) B (t) becomes the maximum value B (t) max after the carriage is made a light obstacle. And the time interval dt from the time when the minimum value B (t) min is reached is 0.38 seconds.

  However, as shown in FIG. 32, when the recording medium S is caught between the carriage, the recording head or the like and the conveying belt or the like, a jam J occurs, or the colliding obstacle is a soft object. In such a case, since the carriage receives a gentle resistance from a jam or an obstacle, the moving speed (physical quantities related to the object) A (t) and B (t) of the carriage fluctuate slowly as shown in FIG. .

  Then, in the time fluctuation calculating means 4 (time fluctuation calculating step S3), the physical quantity B (t) related to the current object and the physical quantity B (t−dt) related to the object before the time interval dt from the present time according to the above equation (1). When the time variation C (t, dt) is calculated as a difference from), the time variation C (t, dt) changes according to the time t as shown in FIGS. 17A to 17C and FIG. 17A shows a time interval dt = 0.05 seconds, FIG. 17B shows dt = 0.20 seconds, FIG. 17C shows dt = 0.38 seconds, and FIG. The case of 70 seconds is shown respectively.

Even in the case of the time interval dt = 0.38 seconds shown in FIG. 17C, the time variation C (t, dt) exceeds the positive constant D ₊ (dt), and the threshold function D ₊ (dt ) And the threshold function D ₋ (dt), but before that, when the time interval dt = 0.70 seconds shown in FIG. 18, the time variation C (t, dt ) Is below the negative constant D ₋ (dt) and exceeds the numerical range defined by the threshold function D ₊ (dt) and the threshold function D ₋ (dt).

Therefore, in the case of the time interval dt = 0.70 seconds shown in FIG. 18, the physical quantity A (t) related to the object at time t ^* when the time variation C (t, dt) falls below the negative constant D ₋ (dt). ) Is detected, and an abnormality detection signal E (t) is output at time t ^* .

  On the other hand, when the carriage collides with a hard object, for example, the aspect changes from the above case. In such a case, the carriage moving speed (physical quantity relating to the object) A (t) and B (t) rises instantaneously as shown in FIG.

  Then, in the time fluctuation calculating means 4 (time fluctuation calculating step S3), the physical quantity B (t) related to the current object and the physical quantity B (t−dt) related to the object before the time interval dt from the present time according to the above equation (1). When the time variation C (t, dt) is calculated as a difference from (), the time variation C (t, dt) is as shown in FIGS. 20 (A) and 20 (B) and FIGS. 21 (A) and 21 (B). At time t.

In this case, at any time interval dt shown in FIGS. 20 and 21, time change C (t, dt) is the threshold function _D + and (dt) threshold function _D - is partitioned out with (dt) Beyond the numerical range.

In this way, when the carriage collides with, for example, a hard object, the physical quantities A (t) and B (t) relating to the object fluctuate instantaneously, so that the time variation C (t, dt) is the earliest. At time t ^* when a time interval dt exceeding the numerical range defined by the threshold function D ₊ (dt) and the threshold function D ₋ (dt) appears, an abnormality of the physical quantity A (t) related to the object is detected, and the time An abnormality detection signal E (t) is output at t ^* .

As described above, according to the abnormality detection method and the abnormality detection system 1 according to the present embodiment, the time variation C (t, t) for all the time intervals dt within the predetermined time range Rt set in advance before the present time. dt) is calculated, and the threshold function D (dt) (threshold function D ₊ (dt) and threshold function D ₋ (dt)) is set in advance for all time intervals dt, and the calculated time variation C (t, dt) and the threshold function D (dt), for example, the physical quantity A (t at the time t ^* when the time interval dt at which the time variation C (t, dt) exceeds the threshold function D (dt) appears. ) Is detected.

  With this configuration, for example, when a hard obstacle collides with the carriage, the time variation C (t, dt) of the small time interval dt exceeds the threshold function D (dt). In the case where an obstacle having a light weight collides, the time variation C (t, dt) of the medium time interval dt exceeds the threshold function D (dt). When the recording medium S is caught in the middle and a jam occurs or when the colliding obstacle is a soft object, the time variation C (t, dt) of the relatively large time interval dt is obtained. It is possible to exceed the threshold function D (dt).

  Therefore, according to the abnormality detection method and the abnormality detection system according to the present embodiment, only when the physical quantity A (t) relating to the object changes abruptly as in the case where the object (for example, the carriage) collides with an obstacle. In addition, an abnormality in the physical quantity A (t) related to the object can be accurately detected even when the physical quantity A (t) related to the object changes slowly, such as when a jam occurs in the ink jet recording apparatus. .

[Second Embodiment]
In the abnormality detection system 1 and the abnormality detection method according to the first embodiment, the time variation C (t, dt) is calculated for all time intervals dt within a predetermined time range Rt set in advance before the present time. It was calculated and it was determined whether or not the time variation C (t, dt) exceeded the threshold function D (dt) (threshold function D ₊ (dt) and threshold function D ₋ (dt)) for the entire time interval dt. However, when such calculation is performed for the entire time interval dt, the calculation process becomes heavy, and a phenomenon such as a decrease in processing speed may occur.

  Therefore, in the abnormality detection system 10 and the abnormality detection method according to the second embodiment, as shown in FIG. 22, the time variation calculation means 4 (time variation calculation step S3) has a plurality of different ( Time variations C (t, dt1), C (t, dt2),..., C (t, dtn) are calculated for (n) time intervals dt1, dt2,.

Then, in the abnormality detection means 5 (abnormality detection step S4), for each time interval dt1, dt2,..., Dtn, each time variation C (t, dt1), C (t, dt2),. dtn) and threshold values D (dt1) to D (dtn) are compared with each other, for example, each of the time fluctuations C (t, dt1), C (t, dt2),..., C (t, dtn) If but it is determined that the time interval exceeding the threshold D (dt1) ~D (dtn) is present, to detect the abnormality of the physical quantity a (t) related to the object at that time ^{t *,} the time ^{t *} the abnormality detection signal E It is configured to output (t).

  In this case, a plurality (n) of different time intervals dt1, dt2,..., Dtn are appropriately set based on the actual situation of the physical system to which the abnormality detection system 10 or the abnormality detection method is applied.

  For example, when the carriage moving speed in the ink jet recording apparatus as described above is set as the physical quantity A (t) related to the object, it is suitable for detecting a collision with an obstacle having a light weight as described above. Short time intervals dt (FIG. 20A) such as dt = 0.38 seconds (see FIG. 14B) or dt = 0.05 seconds suitable for detecting a collision with a hard obstacle. Or a long time interval dt (see FIG. 18) such as dt = 0.70 seconds suitable for detecting the occurrence of a jam or a collision with a soft obstacle. (N) time intervals dt1, dt2,..., Dtn are appropriately set.

  As described above, according to the abnormality detection method and the abnormality detection system 10 according to the second embodiment, the plurality of (n) time intervals dt1, dt2,. The same effects as those of the abnormality detection method and abnormality detection system 1 according to the first embodiment can be obtained.

  Further, calculation processing of each time variation C (t, dt1), C (t, dt2),..., C (t, dtn) in the time variation calculation means 4 (time variation calculation step S3), or abnormality detection The determination process in the means 5 (abnormality detection step S4) can be performed quickly, a reduction in processing speed is avoided, and abnormality detection can be performed in real time.

  In the first and second embodiments, the threshold function D (dt) and the thresholds D (dt1) to D (dtn) are the total time interval dt or a plurality of time intervals dt1, dt2, ..., dtn. It may be set to a constant value, or may be set to a value that changes depending on the total time interval dt or a plurality of time intervals dt1, dt2,.

At that time, for example, as shown in FIG. 23, the threshold function D (dt) and the threshold value D (dt1) ~D (dtn) , lower than the value in the other time interval dt in the vicinity of a predetermined time interval dt ₀ (When D ₊ (dt) and D ₋ (dt) as described above are set as threshold functions and thresholds, D ₊ (dt) and D ₋ (dt) are more than values at other time intervals dt. If it is set (to be close to 0), the time variation C (t, dt) easily exceeds the threshold function or threshold in the vicinity of the predetermined time interval dt ₀ , and the physical quantity A (t) related to the object Abnormality is easily detected.

Thus, if want to focus time as the interval dt ₀ exists, be set to the threshold value function or the threshold at that time interval dt ₀ neighborhood is close to zero than the value in the other time interval dt Thus, the abnormality detection systems 1 and 10 can be configured to detect abnormality sensitively at a time interval dt ₀ of interest.

  For example, in the above-described ink jet recording apparatus, in particular, when it is desired to detect the occurrence of a jam, the threshold function and the threshold value are closer to 0 than the values at other time intervals dt in the vicinity of the time interval dt = 0.38 seconds. By setting the value to be a value, at least the occurrence of a jam can be sensitively detected.

  In addition, the threshold function and the threshold are generally lowered for all time intervals dt within the predetermined time range Rt in the first embodiment and a plurality of time intervals dt1, dt2, ..., dtn in the second embodiment. If set, it becomes easy to detect an abnormality. However, as described above, if the threshold function or the threshold is set too low, it is easy to erroneously detect an abnormality even though the physical quantity A (t) relating to the object is within a numerical range that is not an abnormality at the time of steady state. There's a problem.

  Therefore, the maximum value and the minimum value that the physical quantity B (t) related to the object can take at each time interval dt at the time of steady state where there is no collision with an obstacle, etc. are calculated, and the values at the steady state and at the time of abnormality are calculated. It is possible to configure so that a threshold function or threshold value is set by adding a predetermined reference value for distinguishing the value.

  Hereinafter, although the case of the abnormality detection system 1 according to the first embodiment will be described, the case of the abnormality detection system 10 according to the second embodiment is similar by processing in the same manner for each time interval dt1 to dtn. An effect can be obtained.

  Specifically, as shown in FIG. 24, each time interval dt for the time variation C (t, dt) for each time interval dt calculated in the steady state by the time variation calculation means 4 of the abnormality detection system 1. The transition is monitored every time, and when the time variation C (t, dt) larger than the maximum value of the time variation C (t, dt) calculated for each time interval dt is calculated, the maximum The value is updated and stored in the storage means 3.

  Similarly, for the minimum value, if a time variation C (t, dt) smaller than the minimum value of the time variation C (t, dt) for each time interval dt calculated so far is calculated, The minimum value is updated and stored in the storage means 3 (steady-state maximum fluctuation updating step).

  Then, the storage means 3 stores, for example, the maximum value distribution Cmax (dt) and the minimum value distribution Cmin (dt) of the time variation C (t, dt) for each time interval dt as shown in FIG. Is done.

Therefore, for example, as shown in FIG. 24, when the reference value adding means 7 is provided and the time fluctuation calculating means 4 updates the maximum value of the time fluctuation C (t, dt) for each time interval dt. The reference value adding means 7 adds the reference value α to the maximum value distribution Cmax (dt) of the time fluctuation C (t, dt) for each time interval dt, and the time fluctuation calculating means 4 When the minimum value of the time variation C (t, dt) for each interval dt is updated, the reference value adding means 7 distributes the minimum value Cmin of the time variation C (t, dt) for each time interval dt. The threshold function D ₊ (dt) and the threshold function D ₋ (dt) are set by adding the reference value −α to (dt).

If the maximum value Cmax (dt) or the minimum value Cmin (dt) of the time variation C (t, dt) for each time interval dt is not updated, the abnormality detection means 5 uses the threshold function D so far. Processing is performed based on ₊ (dt) and the threshold function D ₋ (dt).

However, when the maximum value Cmax (dt) or the minimum value Cmin (dt) of the time variation C (t, dt) of any time interval dt is updated, the reference value adding means 7 performs the time interval dt. Is added to the maximum value Cmax (dt) or minimum value Cmin (dt) of the new time variation C (t, dt), and the threshold function D ₊ (dt) or threshold value for the time interval dt is added. The function D ₋ (dt) is updated (threshold update step), and the abnormality detection unit 5 performs processing based on the updated new threshold function D ₊ (dt) and threshold function D ₋ (dt).

If comprised in this way, threshold value function D () about all the time intervals dt in the predetermined time range Rt in 1st Embodiment, and several time intervals dt1, dt2, ..., dtn in 2nd Embodiment, respectively. dt) (or D ₊ (dt), D ₋ (dt)) and threshold values D (dt1) to D (dtn) are generally appropriate values for each time interval dt, and are related to the object for each time interval dt. It is possible to accurately detect an abnormality in the physical quantity A (t).

  At the same time, the threshold function or threshold value is set too low, and there is a situation in which the physical quantity A (t) related to the object is erroneously detected as abnormal even though it is within a numerical range that is not abnormal at normal time. It becomes possible to prevent accurately.

  The reference values α and −α may be a fixed number that does not depend on the time interval dt (dtn), and as a function of the time interval dt (dtn) that depends on each time interval dt (dtn). It may be set.

[Third Embodiment]
In the abnormality detection systems 1 and 10 and the abnormality detection method according to the first and second embodiments described above, for example, as shown in FIG. 9, the abnormality detection means 5 (abnormality detection step S4) performs each time variation C If the absolute value | C (t, dt) | of (t, dt) is calculated and compared with a threshold function D (dt) taking a positive value, the threshold function D (dt) or threshold D It is not necessary to provide two types (dt1) to D (dtn) as in the case of D ₊ and D ₋ (positive and negative cases), the arithmetic processing becomes lighter, and the processing is simplified. Is possible.

  Further, when each time variation C (t, dt) is calculated by the time variation calculation means 4 (time variation calculation step), each absolute value | C ( t, dt) | is also calculated, and the abnormality detection means 5 (abnormality detection step S4) calculates the maximum value | C from the absolute values | C (t, dt) | of each time variation C (t, dt). If (t, dt) | max is selected and the maximum value | C (t, dt) | max is compared with a preset threshold value D, the processing can be further simplified. It becomes possible.

  At that time, as in the case described above, the absolute value of each time variation C (t, dt) calculated for each time interval dt in the steady state by the time variation calculation means 4 (time variation calculation step) | When the maximum value of C (t, dt) | is larger than the maximum value of the absolute value | C (t, dt) | of the time variation C (t, dt) stored in the storage means 3 The maximum value of the new absolute value | C (t, dt) | is updated and stored (steady-state maximum fluctuation updating step).

  When the time variation calculation unit 4 updates the maximum value of the absolute value | C (t, dt) | of the time variation C (t, dt), the reference value addition unit 7 sets a new absolute value | The threshold value D is updated by adding a reference value to the maximum value of C (t, dt) |, and the abnormality detection means 5 can be configured to perform processing based on the updated new threshold value D. is there.

  With this configuration, as described above, the threshold value D is set too low, and the physical quantity A (t) related to the object is erroneously detected as abnormal even though the physical quantity A (t) is within a numerical range that is not abnormal during normal operation. It is possible to accurately prevent the occurrence of.

  In the first to third embodiments described above, for example, when the carriage of the inkjet recording apparatus starts to move or stops moving, the carriage does not collide with an obstacle or a jam occurs. A relatively large variation occurs in the speed (physical quantity A (t) relating to the object). And if it is detected as abnormal, erroneous detection will occur frequently.

  Therefore, the processing in each of the above means, in particular, the abnormality detection means 5 (abnormality detection step S4) is performed under the condition that the physical quantity A (t) related to the object detected by the physical quantity detection means 2 (physical quantity detection step S1) is set in advance. In the case of satisfying, that is, for example, it is preferably configured to be performed only when a condition such as a time range from a predetermined time after the start of carriage movement to a predetermined time before the carriage stop is satisfied.

  In the first to third embodiments, the description has been made assuming that the carriage is moved based on the rotational drive of the servo motor. However, in addition to this, for example, a DC motor or other actuator is used. In this case, the abnormality detection method and the abnormality detection systems 1 and 10 according to the present invention can be similarly applied.

  In that case, when there is an abnormality, the physical quantity A (t) related to the object often does not periodically increase or decrease as shown in FIG. 3 or the like. For example, as the physical quantity A (t) related to the object, When the current value of the current supplied to the DC motor is detected, the physical quantity A (t) relating to the object increases monotonously when there is an abnormality. In the case where the rotational speed of the output shaft of the DC motor is detected as the physical quantity A (t) related to the object, the physical quantity A (t) related to the object increases monotonously when there is an abnormality.

When the physical quantity A (t) relating to the object monotonously increases or monotonously decreases when there is an abnormality as described above, the physical quantity A (t) relating to the object monotonously increasing or monotonically decreasing becomes the threshold function D (dt). If the time interval dt and the threshold function D (dt) are set so as to exceed, the time variation C (t, dt) can always exceed the thresholds D ₊ and D ₋ at any time interval dt. .

  Therefore, even when the drive source is an actuator that is not a servo motor, the abnormality detection method and the abnormality detection systems 1 and 10 according to the present invention accurately detect that an abnormality has occurred in the physical quantity A (t) related to the object. It becomes possible.

[Physical quantity control system and physical quantity control method]
When an abnormality of the physical quantity A (t) related to the object is detected by the abnormality detection systems 1 and 10 and the abnormality detection method according to each of the above embodiments, and the abnormality detection signal E (t) is output at time t ^* , The abnormality detection signal E (t) is fed back to a drive control unit that drives the object and controls the physical quantity A (t) related to the object, and the drive control unit can perform control at a predetermined abnormality. .

  In this case, as shown in FIG. 26, the physical quantity control system 20 is configured to include at least the abnormality detection system 1 or the abnormality detection system 10 according to each of the above-described embodiments and the object O drive control means 21. The

  Then, the drive control means 21 drives the object O in a steady state to control the physical quantity A (t) related to the object, and an abnormality is detected by the abnormality detection systems 1 and 10, and an abnormality detection signal E (t) is output. Then (see the abnormality detection step S4 in the flowchart of the physical quantity control method of FIG. 27), it is configured to perform control at the time of abnormality set in advance based on the abnormality detection signal E (t) (control step at abnormality time S5). ).

  The drive control unit 21 is a drive control unit of an actuator that drives movement and rotation of the object O. Specifically, for example, a motor drive control unit including a motor drive control unit of a motor and a servo mechanism of a servo motor. Or the pressure control part etc. in a hydraulic cylinder or a pneumatic cylinder are mentioned.

  At that time, examples of the object O include an object that moves linearly or in a curved line by a rotational drive of a motor, a servo motor, or the like, such as a carriage in the above-described ink jet recording apparatus, and the physical quantity A (t) related to the object is The moving speed when the object O moves linearly or in a curved line can be mentioned.

  Further, the object O is not limited to a case where the object O is moved by rotational driving such as a motor or a servo motor as described above, and may be the motor itself or the servo motor itself. At that time, the rotational speed of the output shaft of the motor or servo motor, the output shaft torque, the current value of the current supplied to the motor or servo motor having the same relationship with the output shaft torque, etc. are represented by the physical quantity A ( t).

  When the physical quantity A (t) related to the object is the rotation speed of the output shaft of the motor or servo motor, for example, a rotary encoder that detects the rotation speed of the output shaft is adopted as the physical quantity detection means 2. When the physical quantity A (t) is the torque of the output shaft of the motor or servo motor, for example, a torque sensor is employed as the physical quantity detection means 2, and the physical quantity A (t) relating to the object is the current supplied to the motor or servo motor. In the case of a current value, for example, an ammeter is employed as the physical quantity detection means 2.

  Then, the abnormality detection means 5 detects an abnormality in the physical quantity A (t) relating to the object such as the rotation speed of the output shaft of the motor or servo motor detected by the physical quantity detection means 2 such as a rotary encoder, and an abnormality detection signal E (t ) Is output, the abnormality detection signal E (t) is input to a drive control means 21 such as a motor drive control section including a motor drive control section of a motor or a servo mechanism of a servo motor. The predetermined control at the time of abnormality is performed.

  The predetermined control at the time of abnormality is, for example, control such as stopping the rotation drive of the motor or servo motor or reversing the rotation of the output shaft of the motor or servo motor. Usually, the physical quantity A (t ) Is configured so that the control at the time of abnormality is performed in a direction to eliminate the trouble caused by the abnormality.

  By configuring the physical quantity control system 20 and the physical quantity control method according to the present embodiment as described above using the abnormality detection systems 1 and 10 and the abnormality detection method according to the above-described embodiments, the above-described embodiments are provided. Only when the effect of the abnormality detection systems 1 and 10 and the abnormality detection method is exerted accurately and the physical quantity A (t) relating to the object fluctuates abruptly, such as when the object O and the obstacle collide. In addition, even when the physical quantity A (t) related to the object changes slowly, such as when a jam occurs in the ink jet recording apparatus, it is possible to accurately detect the abnormality of the physical quantity A (t) related to the object. It is possible to cause the drive control means 21 that drives O and controls the physical quantity A (t) related to the object to accurately perform control in a predetermined abnormality.

[Inkjet recording apparatus]
As described above, the physical quantity control system 20 and the physical quantity control method according to the above embodiment can be effectively applied to an ink jet recording apparatus. Hereinafter, an embodiment of an ink jet recording apparatus to which the physical quantity control system 20 and the physical quantity control method according to the above embodiment are applied will be described with reference to the drawings.

  As shown in FIG. 28, the ink jet recording apparatus 30 according to the present embodiment mainly includes a transport unit 31, a scan unit 32, an ink rack 33, and a computer.

  An endless conveyance belt 311 for conveying a recording medium (not shown) from the back side (lower surface side in the drawing) and conveying it in the sub-scanning direction Y indicated by an arrow Y in the drawing is arranged on the upper portion of the conveyance unit 31. It is installed. Instead of the conveyance belt 311, a flat platen can be used. In the present embodiment, the transport unit 31 and the scan unit 32 are formed as separate bodies, but may be formed integrally.

  As described above, the recording medium is not particularly limited, and may be a resin film, metal, or the like in addition to paper and fabric.

  A scanning unit 32 is disposed above the conveying belt 311 of the conveying unit 31, but behind the scanning unit 32, a plurality of recording heads (not shown) mounted on a carriage 36 (see FIG. 29) (FIG. 32). Ink racks 33 each having an ink tank 331 for storing ink (liquid) of each color to be supplied to the recording head 102 are disposed. Ink is supplied from each ink tank 331 to each recording head via a pipe (not shown).

  Also, below the scan unit 32, a computer 34 configured by connecting a not-shown CPU (Central Processing Unit), ROM (Read Only Memory), RAM, input / output interface, and the like to a bus is disposed. Image data, electrical signals, and the like are transmitted from the computer 34 to the recording head via wiring (not shown).

  FIG. 29 is a diagram illustrating a main part inside the scan unit. In practice, a head moisturizing unit that caps and moisturizes the nozzle surface of the recording head when the operation of the ink jet recording apparatus 30 is stopped is arranged on the pedestal portion on the left side of the scanning unit 32 in the figure. On the pedestal portion, a maintenance unit in which a head cleaning mechanism or the like for performing maintenance of the recording head is disposed is disposed, but the illustration is omitted in FIG.

  Inside the scan unit 32, a rod-shaped carriage rail 35 is disposed so as to extend in the main scanning direction X indicated by an arrow X in the figure perpendicular to the sub-scanning direction Y. A substantially housing-like carriage 36 is supported along the carriage rail 35 so as to reciprocate in the main scanning direction X. Note that a cable bear 37 is connected to the upper end portion of the carriage 36 to accommodate the above-described wiring and piping and follow the movement of the carriage 36 in the main scanning direction X while protecting the wiring and piping.

  A servo motor 38 is attached to one end side of the carriage rail 35, and a pulley (not shown) is directly connected to an output shaft (not shown) of the servo motor 38 and is accommodated in the carriage rail 35. A pulley (not shown) is also attached inside the carriage rail 35 on the other end side, and a belt (not shown) is stretched around each pulley at both ends.

  The carriage 36 is fixed to the belt, and the carriage 36 reciprocates in the main scanning direction X along the carriage rail 35 by a revolving operation between the pulleys of the belt by the rotational drive of the output shaft of the servo motor 38. It is supposed to be.

  Further, a linear scale 39 of a linear encoder for specifying the position of the carriage 36 and detecting the moving speed is provided along the carriage rail 35 at the lower end portion of the carriage rail 35. A linear encoder sensor 40 that reads a mark provided on the linear scale 39 is attached to the back of the side surface of the carriage 36 so that the sensor 40 reads the mark on the linear scale 39 and transmits a pulse signal. It has become.

  On one end side of the carriage rail 35 to which the servo motor 38 is attached, a microcomputer 41 that performs processing in each means of the physical quantity control system 20 is accommodated. The microcomputer 41 is supplied with an output value from an FV converter (not shown) that converts the frequency of the pulse signal output from the sensor 40 of the linear encoder into the moving speed of the carriage.

  FIG. 30 is a block diagram showing a configuration of an ink jet recording apparatus according to this embodiment to which the physical quantity control system 20 and the physical quantity control method described above are applied. The servo motor 38 includes a motor drive control unit 42 that includes a drive unit 42a, a servo mechanism 42b, and the like, a rotary encoder 43 that detects the rotation speed of the output shaft 38a of the servo motor 38, and the like.

  The output shaft 38a of the servo motor 38 rotates in accordance with the current value of the current output from the drive unit 42a of the motor drive control unit 42, but the current value of the current output from the drive unit 42a and the rotary encoder 43 The actual rotational speed of the output shaft 38a to be output is fed back to the servo mechanism 42b of the motor drive control unit 42, and the rotational speed of the output shaft 38a is controlled to be always constant.

  Further, as described above, the moving speed of the carriage 36 that moves in the main scanning direction X by the rotation of the output shaft 38a of the servo motor 38 is the linear encoder sensor 40 corresponding to the physical quantity detection means 2 of the physical quantity control system 20 or the like. It is detected by an FV converter 44 that converts the frequency of the output pulse signal into the moving speed of the carriage.

  Then, the moving speed of the carriage 36 corresponding to the physical quantity A (t) related to the object is transmitted to the microcomputer 41, and each process (see FIG. 2 etc.) in each means (see FIG. 2 etc.) of the abnormality detection system 1, 10 described above. When the abnormality detection means 5 detects an abnormality in the moving speed of the carriage 36, an abnormality detection signal E (t) is output.

  When the abnormality detection signal E (t) output from the abnormality detection means 5 is input to the motor drive control unit 42 of the servo motor 38, the motor drive control unit 42 controls the servo motor from the drive unit 42a as a control at the time of abnormality. The supply of current to 38 is stopped, and the rotation of the output shaft 38a of the servo motor 38 is stopped. In this way, when an abnormality occurs, the movement of the carriage 36 in the main scanning direction X is stopped.

  As described above, according to the inkjet recording apparatus 30 according to the present embodiment, the effects of the physical quantity control system 20 and the physical quantity control method, the abnormality detection systems 1 and 10 and the abnormality detection method are accurately exhibited. When an abnormality such as the carriage 36 colliding with an obstacle occurs, the movement of the carriage 36 in the main scanning direction X can be stopped accurately.

  Further, as described above, if the physical quantity control system 20 and the physical quantity control method described above, and the abnormality detection systems 1 and 10 and the abnormality detection method described above are used, the object is as if the carriage 36 collided with an obstacle. In addition to the case where the physical quantity A (t) relating to the object fluctuates rapidly, the physical quantity A (t) relating to the object fluctuates slowly, such as when the recording medium S is jammed under the carriage 36 or the like and a jam occurs. In addition, the abnormality of the physical quantity A (t) related to the object can be accurately detected.

  Therefore, according to the ink jet recording apparatus 30 according to the present embodiment to which these are applied, it is possible to accurately detect the occurrence of a jam, and when the jam occurs, the servo motor 38 is rotated as control at the time of abnormality. By stopping, the movement of the carriage 36 in the main scanning direction X can be surely stopped.

  For this reason, the movement of the carriage 36 in the main scanning direction X does not stop despite the occurrence of a jam, and the carriage 36 and the recording head mounted on the carriage 36 are damaged, or ink ejection is continued. It is possible to prevent the occurrence of a situation where the conveyor belt 311 is contaminated.

[Application of the abnormality detection system to an inkjet recording apparatus]
In addition, according to the above-described abnormality detection systems 1 and 10 and the abnormality detection method, it is possible to accurately detect a sudden change or a slow change in the physical quantity A (t) related to the object. Therefore, by applying the abnormality detection systems 1 and 10 and the abnormality detection method to the ink jet recording apparatus with the distance between the carriage 36 and the recording medium S as the physical quantity A (t) related to the object, the end portion and the wrinkle of the recording medium S are removed. Can be detected. Hereinafter, application examples thereof will be described.

  In the ink jet recording apparatus 50 according to this embodiment, as shown in FIG. 31, the physical quantity detection means 2 is provided on both or one of the upstream side and the downstream side in the main scanning direction X of the carriage 36 on which a plurality of recording heads 51 are mounted. For example, a reflective photosensor 52 including a light emitting element 52a and a light receiving element 52b is provided.

  The reflective photosensor 52 irradiates the recording medium S and the conveyor belt 311 (or platen) with light from the light emitting element 52a, receives the reflected light with the light receiving element 52b, and the light amount (or intensity) of the reflected light. Based on this, the distance between the carriage 36 and the recording medium S, or more precisely, the distance between the reflective photosensor 52 and the recording medium S or the conveyor belt 311 is detected.

  For example, when the carriage 36 moves in one direction Xa in the main scanning direction X, first, light emitted from the light emitting element 52a of the reflective photosensor 52 is reflected by the transport belt 311 and received by the light receiving element 52b. . At this time, since the distance between the reflection type photosensor 52 and the conveyance belt 311 is larger than the distance between the reflection type photosensor 52 and the recording medium S by the thickness of the recording medium S, the light receiving element 52 b of the reflection type photosensor 52. A relatively weak reflected light is received.

  Then, when the carriage 36 further moves in one direction Xa of the main scanning direction X and the reflection type photosensor 52 reaches above the end E of the recording medium S, the reflection type photosensor 52 and the recording medium S are separated from each other. The distance becomes shorter than the distance between the reflective photosensor 52 and the conveyor belt 311, and the amount (intensity) of reflected light received by the light receiving element 52 b of the reflective photosensor 52 increases relatively abruptly.

  For this reason, the output value of the distance (physical quantity A (t) relating to the object) output from the amplifier (not shown) of the reflection type photosensor 52 rapidly changes in a direction of shortening from the output value of the distance output so far.

  Therefore, the output value from the reflection type photosensor 52 which is the physical quantity detection means 2 is analyzed by the abnormality detection systems 1 and 10 shown in FIG. 2, FIG. 22, FIG. 24, etc., and the output value is reduced at a short time interval dt. It is determined that the threshold function or the threshold value has been exceeded, and the “abnormality” of the distance (physical quantity A (t) relating to the object) is detected, and an abnormality detection signal E (t) is output from the abnormality detection means 5 of the abnormality detection systems 1 and 10. The

  It can be considered that the end E of the recording medium S has been detected when the abnormality detection signal E (t) is output. Then, the position of the carriage 36 at that time is read by the linear encoder, and the position of the end E of the recording medium S is specified.

  Further, when the carriage 36 further moves in one direction Xa in the main scanning direction X and the reflection type photosensor 52 reaches above the ridge R of the recording medium S (including floating of the recording medium S), the reflection type is detected. The output value of the distance output from the photosensor 52 becomes even shorter than the distance between the reflective photosensor 52 and the recording medium S that has been detected by the reflective photosensor 52 until then, and the light received by the reflective photosensor 52 is received. The amount (intensity) of the reflected light received by the element 52b gradually increases. In addition, when the ridge R protrudes at an acute angle, the amount (intensity) of reflected light may be detected so as to increase rapidly.

  In such a case, the output value from the reflection type photosensor 52 as the physical quantity detection means 2 is analyzed by the abnormality detection systems 1 and 10 shown in FIG. 2, FIG. 22, FIG. It is determined that the threshold function or the threshold has been exceeded at a long time interval dt, and an “abnormality” of the distance (physical quantity A (t) relating to the object) is detected, and the abnormality detection signal E from the abnormality detection means 5 of the abnormality detection systems 1 and 10 (T) is output.

  It can be considered that the defect R of the recording medium S has been detected at the time when the abnormality detection signal E (t) is output. Then, the position of the carriage 36 at that time is read by the linear encoder, and the position of the ridge R of the recording medium S is specified. Whether or not to stop the movement of the carriage 36 in the main scanning direction X when the ridge R is detected on the recording medium S is separately determined.

  As described above, according to the ink jet recording apparatus 50 according to the present embodiment, the effects of the above-described abnormality detection systems 1 and 10 and the abnormality detection method are accurately exhibited, and the end E and the ridge R of the recording medium S are displayed. Can be accurately detected.

It is a flowchart which shows the process sequence of the abnormality detection method which concerns on this invention. It is a block diagram which shows the structure of the abnormality detection system which concerns on 1st Embodiment. It is a graph which shows the example of the physical quantity regarding the object detected by the physical quantity detection means. It is a graph which shows the example of the physical quantity regarding the object smooth | blunted with the filter means. It is a graph explaining the relationship between the physical quantity regarding the present object, and the physical quantity regarding the object before the time interval dt from the present. FIG. 5 is a graph showing a temporal transition of time fluctuation when the time interval dt is changed in the example of FIG. 4, (A) is dt = 0.02 seconds, (B) is dt = 0.05 seconds, ( C) represents the case of dt = 0.10 seconds. FIG. 5 is a graph showing a temporal transition of time fluctuation when the time interval dt is changed in the example of FIG. 4, (A) is dt = 0.20 seconds, (B) is dt = 0.38 seconds, ( C) represents the case of dt = 0.70 seconds. It is a graph showing the example of the relationship between a time fluctuation part and a time interval, and the example of a threshold function. It is a graph showing the example of the relationship between the absolute value of a time fluctuation part, and a time interval, and the example of a threshold function. It is a graph explaining the threshold function which takes a positive value, and the threshold function which takes a negative value. FIG. 5 is a graph showing a temporal transition of a time variation when the time interval dt = 0.38 seconds in the example of FIG. 4. It is a graph which shows an example in case the time interval in which a time fluctuation part exceeds a threshold value function exists. FIG. 5 is a graph showing the relationship between the temporal transition of the time variation and the threshold function in the example of FIG. 4, where (A) is dt = 0.02 seconds, (B) is dt = 0.05 seconds, and (C) is This represents the case of dt = 0.10 seconds. FIG. 5 is a graph showing the relationship between the temporal transition of the time variation and the threshold function in the example of FIG. 4, where (A) is dt = 0.20 seconds, (B) is dt = 0.38 seconds, and (C) is This represents the case of dt = 0.70 seconds. It is a graph explaining the maximum value of the physical quantity regarding an object, minimum value, those times, etc. FIG. It is a graph which shows another example of the physical quantity regarding the object smooth | blunted with the filter means. FIG. 17 is a graph showing the relationship between the temporal transition of the time variation and the threshold function in the example of FIG. 16, wherein (A) is dt = 0.05 seconds, (B) is dt = 0.20 seconds, and (C) is This represents the case of dt = 0.38 seconds. FIG. 17 is a graph showing a relationship between a temporal transition for a time variation and a threshold function when dt = 0.70 seconds in the example of FIG. It is a graph which shows another example of the physical quantity regarding the object smooth | blunted with the filter means. FIG. 20 is a graph showing the relationship between the temporal transition of the time variation and the threshold function in the example of FIG. 19, where (A) shows the case of dt = 0.05 seconds and (B) shows the case of dt = 0.20 seconds. FIG. 20 is a graph showing a relationship between a temporal transition corresponding to a time variation and a threshold function in the example of FIG. It is a block diagram which shows the structure of the abnormality detection system which concerns on 2nd Embodiment. It is a graph which shows an example of how to set a threshold function. It is a block diagram which shows the structure of the modification of the abnormality detection system which concerns on 1st and 2nd embodiment. 25 is a graph showing an example of how to set a threshold function based on a modification of the abnormality detection system of FIG. It is a block diagram which shows the structure of the physical quantity control system which concerns on this embodiment. It is a flowchart which shows the process sequence of the physical quantity control method which concerns on this embodiment. 1 is a diagram illustrating an overall configuration of an ink jet recording apparatus according to an embodiment. It is a figure showing the principal part inside the scan unit of the inkjet recording device of FIG. It is a block diagram which shows the structure of the inkjet recording device which concerns on this embodiment. It is a figure showing the reflection type photosensor attached to the carriage. It is a figure explaining the jam of the recording medium which arises with an inkjet recording device.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1,10 Abnormality detection system 2 Physical quantity detection means 4 Time fluctuation calculation means 5 Abnormality detection means 6 Filter means 7 Reference value addition means 20 Physical quantity control system 21 Drive control means 30, 50 Inkjet recording device 36 Carriage 38 Servo motor 42 Motor drive Control unit 42b Servo mechanism 51 Recording head A (t) Physical quantity B (t) relating to object Physical quantity C (t, dt), C (t, dtn) relating to smoothed object Time variation Cmax (dt) Constant time Maximum value for fluctuation Cmin (dt) Minimum value for constant time fluctuation | C (t, dt) | Absolute value for time fluctuation | C (t, dt) | max Maximum value of absolute value for time fluctuation D (dtn) threshold _{D (dt), D + (} dt), D - (dt) threshold function dt time interval dt ^* time change the threshold time interval exceeds (threshold function) E Symbol End of media J jam O object R recording medium wrinkles Rt time range S recording medium X main scanning direction alpha,-.alpha. reference value

Claims (33)

A physical quantity detection step for detecting a physical quantity related to the object;
Based on the physical quantity related to the object detected in the physical quantity detection step, a time variation that is a difference between the physical quantity related to the current object and the physical quantity related to the object before a predetermined time interval from the current A time variation calculation step for calculating all time intervals within a predetermined time range as a function of the time interval;
When the time variation as a function of the time interval calculated in the time variation calculation step is compared with a preset threshold, and the comparison result satisfies a preset condition, the object relates to the object An anomaly detection step for detecting an anomaly in the physical quantity;
The abnormality detection method characterized by having.   The abnormality detection method according to claim 1, wherein the threshold is set in advance as a threshold function having the time intervals as variables for all time intervals within the predetermined time range.   In the abnormality detection step, the time variation is compared with the threshold function for all time intervals within a predetermined time range before the present, and the time interval in which the time variation exceeds the threshold function exists. 3. The abnormality detection method according to claim 2, wherein an abnormality of a physical quantity related to the object is detected when a condition of performing is satisfied. A physical quantity detection step for detecting a physical quantity related to the object;
Based on the physical quantity related to the object detected in the physical quantity detection step, a time variation that is a difference between the physical quantity related to the current object and the physical quantity related to the object before a predetermined time interval from the current time is determined by a plurality of different ones. A time variation calculating step for calculating each of the time intervals;
The physical quantity related to the object when the time fluctuation calculated at the time fluctuation calculation step and the time fluctuation for each time interval are compared with a preset threshold and the comparison result satisfies a preset condition. An anomaly detection step for detecting anomalies;
The abnormality detection method characterized by having.   In the abnormality detection step, the time variation for each time interval calculated in the time variation calculation step is compared with a preset threshold for each time interval, and the time variation is calculated. 5. The abnormality detection method according to claim 4, wherein an abnormality of a physical quantity related to the object is detected when a condition that the time interval exceeding the threshold exists is satisfied. Further, a steady-state maximum fluctuation update step for updating the maximum value or the minimum value of the time fluctuation for each time interval calculated in the time fluctuation calculation step during the steady state;
When the maximum value or the minimum value for the time variation for each time interval is updated in the steady state maximum variation update step, the maximum value or the minimum value for the time variation is updated for each time interval. A threshold update step of updating the threshold by adding a predetermined reference value;
The abnormality detection method according to any one of claims 1 to 5, wherein: In the time variation calculation step, the absolute value of the time variation for each calculated time interval is calculated,
In the abnormality detection step, a maximum value is selected from the absolute values of the time fluctuations calculated in the time fluctuation calculation step, and the maximum value is compared with a preset threshold value. 6. The abnormality detection method according to claim 5, wherein the abnormality is detected.   The abnormality detection step compares the maximum value with the threshold value, and detects an abnormality of a physical quantity related to the object when a condition that the maximum value exceeds the threshold value is satisfied. The abnormality detection method described in 1. Furthermore, a steady-state maximum fluctuation update step for updating the maximum value of the absolute value of the time fluctuation for each time interval calculated in the time fluctuation calculation step at the time of steady state;
In the steady-state maximum fluctuation update step, when the maximum absolute value of the time fluctuation for each time interval is updated, a predetermined reference value is added to the maximum value of the time fluctuation and the A threshold update step for updating the threshold;
The abnormality detection method according to claim 7 or 8, characterized by comprising:   The abnormality detection method according to any one of claims 1 to 9, further comprising a filtering step of smoothing a physical quantity value related to the object detected in the physical quantity detection step.   And a physical quantity calculating step of calculating a physical quantity related to the object at the sampling timing based on the plurality of values when a plurality of values are detected at each sampling timing for the physical quantity related to the object in the physical quantity detecting step. The abnormality detection method according to any one of claims 1 to 10, wherein:   The process in the abnormality detection step is performed only when a physical quantity related to the object detected in the physical quantity detection step satisfies a preset condition. The abnormality detection method described in 1. A physical quantity control method using the abnormality detection method according to any one of claims 1 to 12,
When an abnormality of a physical quantity related to the object is detected in the abnormality detection step in the abnormality detection method, a control at the time of abnormality set in advance is performed for a drive control unit that drives the object and controls the physical quantity related to the object. A physical quantity control method comprising an abnormal time control step. Physical quantity detection means for detecting a physical quantity related to the object;
Based on the physical quantity related to the object detected by the physical quantity detection means, a time variation that is a difference between the physical quantity related to the current object and the physical quantity related to the object that is a predetermined time interval before the present A time variation calculating means for calculating all time intervals within a predetermined time range as a function of the time interval;
When the time variation as a function of the time interval calculated by the time variation calculation means is compared with a preset threshold, and when it is determined that the comparison result satisfies a preset condition, An anomaly detecting means for detecting an anomaly of the physical quantity related to the object;
An abnormality detection system comprising:   The abnormality detection system according to claim 14, wherein the threshold value is set in advance as a threshold function having each time interval as a variable for all time intervals within the predetermined time range.   The abnormality detection means compares the time variation with the threshold function for all time intervals within a predetermined time range before the present, and the time interval in which the time variation exceeds the threshold function exists. The abnormality detection system according to claim 15, wherein an abnormality in a physical quantity related to the object is detected when it is determined that the condition of performing is satisfied. Physical quantity detection means for detecting a physical quantity related to the object;
Based on the physical quantity related to the object detected by the physical quantity detection means, a time variation that is a difference between the physical quantity related to the current object and the physical quantity related to the object before a predetermined time interval from the current time, Time fluctuation calculating means for calculating each of the time intervals;
When the time variation calculated for each time interval calculated by the time variation calculation means is compared with a preset threshold, and when it is determined that the comparison result satisfies a preset condition, An anomaly detecting means for detecting an anomaly of a physical quantity related to an object;
An abnormality detection system comprising:   The abnormality detection unit compares the time variation for each time interval calculated by the time variation calculation unit with a threshold value set in advance for each time interval. The abnormality detection system according to claim 17, wherein an abnormality of a physical quantity related to the object is detected when it is determined that the condition that the time interval exceeding the threshold value exists is satisfied. The time variation calculation means updates the maximum value or the minimum value of the time variation for each time interval calculated in a steady state,
When the time variation calculation means updates the maximum value or minimum value of the time variation for each time interval, a predetermined reference value for each time interval is set to the maximum value or minimum value of the time variation. And a reference value adding means for updating the threshold by adding
The abnormality detection system according to any one of claims 14 to 18, wherein, when the threshold value is updated, the abnormality detection unit performs processing based on the updated threshold value. . The time variation calculation means calculates an absolute value of the time variation for each calculated time interval,
The abnormality detection means selects a maximum value from the absolute values of the time fluctuations calculated by the time fluctuation calculation means, and compares the maximum value with a preset threshold value. The abnormality detection system according to claim 17, characterized in that:   The abnormality detecting means compares the maximum value with the threshold value, and detects an abnormality of a physical quantity related to the object when it is determined that the condition that the maximum value exceeds the threshold value is satisfied. The abnormality detection system according to claim 20. The time variation calculation means updates the maximum value or the minimum value of the time variation for each time interval calculated in a steady state,
When the time variation calculation means updates the maximum value or minimum value of the time variation for each time interval, a predetermined reference value for each time interval is set to the maximum value or minimum value of the time variation. And a reference value adding means for updating the threshold by adding
The abnormality detection system according to claim 20 or 21, wherein, when the threshold is updated, the abnormality detection unit performs processing based on the updated threshold.   The abnormality detection system according to any one of claims 14 to 22, further comprising a filter unit that smoothes a value of the physical quantity related to the object detected by the physical quantity detection unit.   Furthermore, when a plurality of values are detected at each sampling timing for the physical quantity related to the object by the physical quantity detecting means, a physical quantity calculating means for calculating the physical quantity related to the object at the sampling timing based on the plurality of values is provided. The abnormality detection system according to any one of claims 14 to 23, wherein:   25. The abnormality detection unit performs the comparison and the determination only when a physical quantity related to the object detected by the physical quantity detection unit satisfies a preset condition. The abnormality detection system according to any one of the above. A physical quantity control system using the abnormality detection system according to any one of claims 14 to 25,
Furthermore, drive control means for driving the object and controlling a physical quantity related to the object is provided,
The physical quantity control system according to claim 1, wherein the drive control means performs a control at the time of an abnormality set in advance when the abnormality detection means detects an abnormality of the physical quantity related to the object. The physical quantity relating to the object is a current value of a motor torque or a current supplied to the motor,
The time variation calculation means calculates the time variation regarding the torque of the motor or the current value of the current supplied to the motor,
The drive control unit is a motor drive control unit of the motor, and stops the rotation of the motor when the abnormality detection unit detects an abnormality in the torque of the motor or a current value of a current supplied to the motor. The physical quantity control system according to claim 26, wherein the control at the time of the abnormality is performed as described above. The physical quantity related to the object is the number of rotations of the motor,
The time variation calculation means calculates the time variation regarding the rotation speed of the motor,
The drive control means is a motor drive control unit of the motor, and performs control at the time of the abnormality so as to stop the rotation of the motor when the abnormality detection means detects an abnormality in the rotation speed of the motor. 27. The physical quantity control system according to claim 26. The physical quantity related to the object is the moving speed of the object that is moved by the rotational drive of the motor,
The time variation calculation means calculates the time variation regarding the moving speed of the object,
The drive control unit is a motor drive control unit of the motor, and performs control at the time of the abnormality so as to stop the rotation of the motor when the abnormality detection unit detects an abnormality in the moving speed of the object. 27. The physical quantity control system according to claim 26. The motor is a servo motor;
30. The physical quantity control system according to claim 27, wherein the motor drive control unit is a motor drive control unit including a servo mechanism of the servo motor. An ink jet recording apparatus using the physical quantity control system according to claim 30,
further,
A recording head for ejecting ink to the recording medium;
A carriage mounted with the recording head and moving in the main scanning direction above the recording medium;
With
A motor drive control unit including a servo mechanism of the servo motor that is the drive control unit stops rotation of the servo motor as control at the time of the abnormality when the abnormality detection unit detects an abnormality of the physical quantity related to the object. Thus, the movement of the carriage in the main scanning direction is stopped.   A motor drive control unit including a servo mechanism of the servo motor which is the drive control unit, when the abnormality detection unit detects an abnormality due to a jam of the recording medium, the rotation of the servo motor is controlled as the control at the time of the abnormality. 32. The ink jet recording apparatus according to claim 31, wherein the movement of the carriage in the main scanning direction is stopped by stopping. An inkjet recording apparatus using the abnormality detection system according to any one of claims 14 to 25,
further,
A recording head for ejecting ink to the recording medium;
A carriage mounted with the recording head and moving in the main scanning direction above the recording medium;
With
Using the abnormality detection system as an edge / wrinkle detection system of the recording medium,
The physical quantity related to the object in the abnormality detection system is a distance between the carriage and the recording medium,
The physical quantity detection means of the abnormality detection system detects a distance between the carriage and the recording medium,
An ink jet recording apparatus, wherein the abnormality detecting unit of the abnormality detecting system detects an end portion and a wrinkle of the recording medium as an abnormality of a physical quantity related to the object.

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