JP2011217585A - Control device for electronic apparatus, method of limiting torque output of drive source, and electronic apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control device for an electronic apparatus, a method of limiting a torque output of a drive source, and an electronic apparatus which can perform limitation control of a torque output from a drive source at a suitable timing, while reducing a control load.SOLUTION: A PF control part 52 includes a current value calculating part 66 that obtains a current value I flowing to a PF motor 14, a first applied voltage setting part 65 that sets a target speed Vt of the PF motor 14, a rotation speed calculating part 64 that detects a rotation speed Vn of the PF motor 14, a difference calculating part 67 that obtains a difference Vsub by subtracting the rotation speed Vn from the target speed Vt, a torque calculating part 69 that calculates a torque Tr output from the PF motor 14 based on the current value I, and a second applied voltage setting part 71 that reduces a second voltage V2 applied to the PF motor 14 when the torque Tr exceeds a first limit value. The torque calculating part 69 does not calculate the torque Tr when the difference Vsub is less than a difference threshold value KVsub.

Description

  The present invention relates to a control device for an electronic device including a drive source such as a motor, a torque output limiting method for a drive source mounted on the electronic device, and an electronic device including the control device.

  2. Description of the Related Art Generally, a recording apparatus that performs a recording process by attaching a recording material such as ink to a recording medium (for example, paper) fed into the apparatus is known as an electronic apparatus including a drive source such as a motor. Such a recording apparatus includes a recording head that attaches a recording material such as ink to a recording medium, a feeding apparatus that feeds the recording medium in a predetermined conveyance direction, and a motor as a drive source of the feeding apparatus. ing.

  As a method for acquiring the torque output from the motor, a method has been proposed in which a torque sensor for detecting the torque of the motor is provided, and the torque of the motor is detected based on a detection signal from the torque sensor (Patent Literature). 1).

  Also, in recent years, focusing on the fact that there is a proportional relationship between the torque output from the motor and the current value flowing through the motor, the current value flowing through the motor is acquired and the motor torque is calculated based on the current value. A method has been proposed. In this method, it is possible to reduce the number of parts and the cost because it is not necessary to provide a torque sensor.

JP-A-8-207799

  Incidentally, in an electronic device including a motor, torque output restriction control may be performed when the torque output from the motor exceeds a predetermined limit value. When such control is performed, the electronic device acquires the torque of the motor at predetermined intervals, and determines whether the torque exceeds a predetermined limit value. However, the method of calculating the torque of the motor based on the value of the current flowing through the motor has a problem of increasing the control load due to the calculation of the motor torque at predetermined intervals.

  The present invention has been made in view of the above-described problems, and an object of the present invention is to provide an electronic device that can execute limit control of torque output from a drive source at an appropriate timing while reducing a control load. It is an object to provide a control device, a torque output limiting method for a drive source, and an electronic apparatus.

  In order to achieve the above object, a control device for an electronic device according to the present invention is a control device for an electronic device including a drive source, and includes a current value acquisition unit that acquires a current value flowing through the drive source, and the drive source. A speed setting means for setting the target speed, a speed detection means for detecting the drive speed of the drive source, and a difference between the target speed set by the speed setting means and the drive speed detected by the speed detection means. The difference acquisition means to acquire, the torque calculation means for calculating the torque output from the drive source based on the current value acquired by the current value acquisition means, and the torque calculated by the torque calculation means are set. Voltage adjustment means for reducing the voltage applied to the drive source when the torque limit value for difference is exceeded, and the torque calculation means is controlled by the difference acquisition means. Obtained difference is, if it is less than the set difference threshold does not calculate the torque output from the drive source.

  According to the above configuration, when the difference between the set target speed and the detected drive speed is greater than or equal to the difference threshold, the torque output from the drive source is calculated based on the current value flowing through the drive source. When the calculated torque exceeds the differential torque limit value, the voltage applied to the drive source is reduced to limit the torque output from the drive source. That is, limit control of torque output from the drive source is performed at an appropriate timing. On the other hand, when the difference is less than the difference threshold, it is determined that the torque output from the drive source is not excessive, and the torque output from the drive source is not calculated. That is, when an appropriate magnitude of torque is output from the drive source, the torque is not calculated based on the current value. Therefore, even when torque of an appropriate magnitude is output from the drive source, the number of times the torque is calculated is reduced compared to the case where the torque is calculated based on the current value. The load is reduced. Therefore, it is possible to execute limit control of the torque output from the drive source at an appropriate timing while reducing the control load.

  The control apparatus for an electronic device according to the present invention sets the difference threshold value to a first value when the difference threshold is in a first control state including a region where the drive speed of the drive source is increased, while the first control state A threshold setting means for setting a second value smaller than the first value in a second control state including a region in which the drive speed of the drive source is constant. Further prepare.

  In the case of increasing the drive speed of the drive source, the difference between the set target speed and the detected drive speed becomes larger than in the case where the drive speed of the drive source is maintained at a constant speed. Therefore, in the present invention, the difference threshold in the first control state is set to a larger value than in the second control state. Therefore, compared to the case where the difference threshold value is a constant value regardless of the control state, the number of times of calculating torque using the current value can be reduced, and the control load of the control device can be further reduced.

  In the control apparatus for an electronic device according to the present invention, the current value acquisition unit is configured to supply a current flowing through the drive source based on a drive speed of the drive source detected by the speed detection unit and a voltage applied to the drive source. Calculate the value.

  According to the above configuration, the value of the current flowing through the drive source is calculated based on the detected drive speed of the drive source and the voltage applied to the drive source. Therefore, there is no need to separately provide a sensor for detecting the value of the current flowing through the drive source, which can contribute to a reduction in the number of parts of the electronic device.

  The control apparatus for an electronic device according to the present invention further includes a heat storage amount calculation unit that calculates a heat storage amount of the drive source based on a current value flowing through the drive source acquired by the current value acquisition unit, and the torque calculation unit. Calculates the torque output from the drive source when the heat storage amount calculated by the heat storage amount calculation means is greater than or equal to a preset heat storage amount threshold, and the voltage adjustment means includes the heat storage amount calculation means. Is applied to the drive source when the torque calculated by the torque calculation unit exceeds a preset torque limit value for the heat storage amount. Reduce voltage.

  If the amount of heat stored in the drive source is too large, the performance of the drive source may be reduced, or the life of the drive source may be shortened. Therefore, in the present invention, when the heat storage amount of the drive source is equal to or greater than the heat storage amount threshold, the torque output from the drive source is calculated. When the calculated torque exceeds the heat storage amount torque limit value, the voltage applied to the drive source is reduced to limit the torque output from the drive source. Therefore, the drive source can be properly protected.

  In the control apparatus for an electronic device according to the present invention, the voltage adjustment unit may be configured such that when the difference torque limit value is equal to or greater than the heat storage amount torque limit value, the torque calculated by the torque calculation unit is the heat storage amount. When the torque limit value is exceeded, the voltage applied to the drive source is reduced, while when the difference torque limit value is less than the heat storage amount torque limit value, the torque calculated by the torque calculation means is When the difference torque limit value is exceeded, the power supplied to the drive source is reduced.

  According to the above configuration, limit control of the torque output from the drive source is performed based on the torque limit value having the smaller value among the torque limit values. Therefore, it is possible to achieve both suppression of excessive heat storage amount of the drive source and suppression of excessive output of torque of the drive source.

  The control apparatus for an electronic device according to the present invention further includes deceleration calculation means for calculating the deceleration of the drive source when the target speed set by the speed setting means is the same speed continuously several times. The torque calculation means outputs from the drive source based on the current value acquired by the current value acquisition means when the deceleration calculated by the deceleration calculation means is greater than or equal to a preset deceleration threshold value. The torque to be calculated is calculated.

  When the target speed is set to the same speed a plurality of times in succession, the deceleration of the drive source usually does not increase. Therefore, in the present invention, when the target speed is set to the same speed continuously a plurality of times, if the deceleration of the drive source is equal to or greater than the deceleration threshold, an excessive torque output from the drive source occurs. Therefore, the torque output from the drive source is calculated based on the value of the current flowing through the drive source. When the calculated torque exceeds the differential torque limit value, the voltage applied to the drive source is reduced to limit the torque output from the drive source. Therefore, it is possible to appropriately protect the drive source and the driven part that is driven based on the torque from the drive source.

The electronic device of the present invention includes a drive source, a driven unit that is driven by torque output from the drive source, and a control device for the electronic device.
According to the above configuration, the torque output from the drive source is appropriately adjusted.

  On the other hand, the torque output limiting method for a driving source according to the present invention is a torque output limiting method for a driving source mounted on an electronic device, the current value acquiring step for acquiring a current value flowing through the driving source, and the driving source. A speed setting step for setting the target speed, a speed detecting step for detecting the driving speed of the driving source, and a difference between the target speed set in the speed setting step and the driving speed detected in the speed detecting step. A difference acquisition step; a torque calculation step for calculating torque output from the drive source based on the current value acquired in the current value acquisition step; and the torque calculated in the torque calculation step is a set differential torque limit. A voltage adjusting step for reducing the voltage applied to the drive source when the value exceeds the value, and the difference obtaining step takes Difference that is, if it is less than the set difference threshold value, the torque calculation step is not performed.

  According to the said structure, the effect equivalent to the control apparatus of the said electronic device can be acquired.

1 is a schematic perspective view of a recording apparatus according to an embodiment. FIG. 3 is a block diagram illustrating an electrical configuration of a recording apparatus. The block diagram explaining the function structure of a PF control part. The graph which shows an example of a target speed table. The flowchart explaining the PF motor drive processing routine (first half part). The flowchart explaining the PF motor drive processing routine (second half part). (A) is a timing chart showing the change between the target speed and the rotational speed, (b) is a timing chart showing how the difference threshold is changed according to the control state, and (c) is each limit value according to the control state. The timing chart which shows a mode that the magnitude relationship of changes. (A) is a timing chart which shows the change of a target speed and a rotational speed, (b) is a timing chart which shows a mode that a difference threshold value is changed in another embodiment.

  Hereinafter, an embodiment embodying the present invention will be described with reference to FIGS. In the following description of the present specification, when referring to “front-rear direction”, “left-right direction”, and “up-down direction”, the front-rear direction (sub-scanning direction) and left-right direction (main scanning) indicated by arrows in FIG. Direction) and the vertical direction.

  As shown in FIG. 1, a recording apparatus 11 as an electronic device is an ink jet serial type printer, and includes a frame 12 having a substantially rectangular box shape. A platen 13 that supports a sheet P as a recording medium extends in the left-right direction at the lower part of the frame 12. As shown in FIGS. 1 and 2, the platen 13 has a paper feed motor (hereinafter referred to as “PF motor”) 14 provided at a lower portion of the rear surface of the frame 12 as a driven part. Based on the drive of a feeding device (also referred to as “automatic paper feeding device”) 15, the paper P is fed from the rear side toward the front side. An example of the PF motor 14 is a stepping motor.

  The feeding device 15 includes a paper feed roller pair 30 disposed on the rear side of the platen 13 and a paper discharge roller pair 31 disposed on the front side of the platen 13. Each of these roller pairs 30 and 31 includes driving rollers 30a and 31a that rotate by torque transmitted from the PF motor 14, and driven rollers 30b and 31b that rotate following the rotation of the driving rollers 30a and 31a. Each has. In addition, in FIG. 1, illustration of each roller pair 30 and 31 is abbreviate | omitted.

  An output shaft (not shown) of the PF motor 14 is provided with a rotary encoder 32 for detecting the rotational speed, rotational position, and rotational direction of the output shaft. The rotary encoder 32 includes a disk-like member to be detected (not shown) fixed to the output shaft of the PF motor 14 and a detection unit (not shown) arranged to face the member to be detected. The member to be detected has a large number of slits arranged at equal intervals along the circumferential direction around the output shaft of the PF motor 14, and a plurality of detection units (one example) are arranged at different positions in the circumferential direction. 2) sensors (not shown). A pulse-like detection signal corresponding to the rotation amount of the output shaft of the PF motor 14 is output to the control device 40 from each sensor of the detection unit.

  A bar-shaped guide shaft 16 parallel to the longitudinal direction (left-right direction) of the platen 13 is provided above the platen 13 in the frame 12. The guide shaft 16 supports a carriage 17 as a driven portion in a state where the guide shaft 16 can reciprocate in the axial direction (left and right direction and main scanning direction).

  A driving pulley 18 and a driven pulley 19 are rotatably supported at positions corresponding to both end portions of the guide shaft 16 on the inner surface of the rear wall of the frame 12. An output shaft of a carriage motor (hereinafter also referred to as “CR motor”) 20 serving as a drive source when the carriage 17 is reciprocated is connected to the drive pulley 18, and between the pair of pulleys 18 and 19. An endless timing belt 21 partially connected to the carriage 17 is hung. Accordingly, the carriage 17 is moved in the left-right direction via the endless timing belt 21 by the torque output from the CR motor 20 while being guided by the guide shaft 16. An example of the CR motor 20 is a stepping motor.

  Further, in the frame 12, there is provided a linear encoder 24 that is provided on the inner surface side of the rear wall and includes a detection tape 22 that extends in the left-right direction and a detection unit 23 provided on the carriage 17. The tape for detection 22 has a large number of slits arranged at equal intervals along the left-right direction, and the detection unit 23 includes a plurality of (for example, two) sensors (two examples) arranged at different positions in the left-right direction. (Not shown). Then, each sensor of the detection unit 23 outputs a pulse-like detection signal corresponding to the moving distance of the carriage 17 to the control device 40.

  A recording head 25 is provided on the lower surface side of the carriage 17, and a plurality of ink cartridges 26 for storing ink (recording material) supplied to the recording head 25 are detachably mounted on the carriage 17. Each ink cartridge 26 stores different types (colors) of ink. Then, the ink stored in each ink cartridge 26 is supplied to a plurality of nozzles (not shown) opened on the lower surface of the recording head 25 by driving a piezoelectric element (not shown), and ink droplets are ejected onto the paper P from each nozzle. As a result, printing (recording) is performed.

  In addition, a home position area where the paper P is not transported is formed on the right side of the print area where the paper P is transported within the frame 12. In the home position area, a maintenance device 27 for performing various maintenance such as cleaning of the recording head 25 is provided.

Next, the electrical configuration of the recording apparatus 11 of this embodiment will be described.
As shown in FIG. 2, the recording device 11 includes a control device 40 that executes various control processes in the recording device 11. The control device 40 is electrically connected to a PF motor 14, a CR motor 20, a linear encoder 24, a recording head 25, a rotary encoder 32, and the like. The control device 40 individually controls driving of the PF motor 14, the CR motor 20, the recording head 25, and the like based on detection signals from the encoders 24, 32 and the like.

  The control device 40 includes a digital computer 41 (a portion surrounded by a broken line in FIG. 2), a CR driver 42, a PF driver 43, a head driver 44, and the like. The digital computer 41 is constructed by a CPU, ROM, RAM, non-volatile memory and ASIC ((Application Specific IC) (not shown), etc. The digital computer 41 includes hardware and software. As a functional part realized by at least one of them, a main control unit 50, a CR control unit 51, a PF control unit 52, and a head control unit 53 are provided.

  The main control unit 50 appropriately outputs control commands to the CR control unit 51, the PF control unit 52, and the head control unit 53. Specifically, when the main control unit 50 receives a print command and image information from a host computer (not shown) via an interface (not shown), the head control unit 50 issues a control command for generating raster data based on the image information. To the unit 53. In addition, the main control unit 50 outputs a control command for starting the feeding of the paper P to the PF control unit 52 and also outputs a control command for starting the movement of the carriage 17 to the CR control unit 51.

  The CR control unit 51 controls the CR motor 20 based on the detection signal from the linear encoder 24 when moving the carriage 17. That is, the CR control unit 51 calculates the position, movement speed, and movement direction of the carriage 17 in the left-right direction based on the detection signal from the linear encoder 24. Then, the CR control unit 51 outputs a drive signal based on the calculation result to the CR driver 42. Then, the output shaft of the CR motor 20 rotates based on the electric power supplied from the CR driver 42.

  The CR control unit 51 may drive the CR motor 20 in order to perform connection / disconnection control of a clutch (not shown) provided in the power transmission path from the PF motor 14 even when the paper P is fed. .

  The head controller 53 performs various conversion processes (resolution conversion process, color conversion process, halftone process, etc.) on image data received from a host computer (not shown) or the like to generate raster data. Then, the head controller 53 uses the generated raster data to print various ink droplets from the recording head 25 in conjunction with the feeding of the paper P and the movement of the carriage 17 during printing based on the image data. Based on this, a drive signal is output to the head driver 44. Then, ink droplets are ejected from each nozzle of the recording head 25 based on the power supplied from the head driver 44.

Next, the PF control unit 52 of this embodiment will be described.
As shown in FIGS. 2 and 3, the PF control unit 52 controls the PF motor 14 based on a detection signal from the rotary encoder 32 when feeding the paper P. The PF control unit 52 includes a rotational position calculation unit 60, a target speed setting unit 61, a target speed storage unit 62, a clock signal generation unit 63, and a rotation speed calculation as functional parts realized by at least one of hardware and software. Part 64 and a first applied voltage setting part 65. The PF control unit 52 further includes a current value calculation unit 66, a difference calculation unit 67, a deceleration calculation unit 68, a torque calculation unit 69, a heat storage amount calculation unit 70, a second applied voltage setting unit 71, and a signal generation unit 72. I have.

  The rotational position calculation unit 60 is based on the pulse-shaped detection signal output from the rotary encoder 32, and the relative rotational position of the output shaft of the PF motor 14 based on the stop position before the start of rotation (hereinafter simply referred to as “rotation”). (Also referred to as “position”). Specifically, the rotational position calculation unit 60 counts the number of pulses included in the pulsed detection signal from the rotary encoder 32, and calculates the rotation amount of the output shaft and the rotational position of the output shaft based on the counting result. To do. Then, the rotational position calculation unit 60 outputs information regarding the calculated rotational position of the output shaft of the PF motor 14 to the first applied voltage setting unit 65.

  The target speed setting unit 61 constructs a target speed table based on the transport amount of the paper P set by the main control unit 50 and stores the target speed table in the target speed storage unit 62. That is, as shown in FIG. 4, the target speed setting unit 61 includes an acceleration area where the target speed Vt of the output shaft of the PF motor 14 is gradually increased, a constant speed area where the target speed Vt is constant, and a target speed Vt. And a deceleration area that gradually reduces the speed. The constant speed region is set wider as the transport amount of the paper P is larger. Therefore, when the transport amount of the paper P is very small, the constant speed area may not be set and the deceleration area may be set after the acceleration area.

  As shown in FIG. 3, the target speed storage unit 62 is constructed by a part of the RAM so that the target speed table is updated every time the conveyance amount of the paper P is set by the main control unit 50.

  The clock signal generation unit 63 includes a clock generation circuit (not shown) that generates a periodic signal, that is, a clock signal. Then, the clock signal generation unit 63 outputs the clock signal generated by the clock generation circuit to the rotation speed calculation unit 64.

  The rotation speed calculation unit 64 calculates the rotation speed Vn of the output shaft of the PF motor 14 based on the pulsed detection signal output from the rotary encoder 32 and the clock signal output from the clock signal generation unit 63. Specifically, the rotation speed calculation unit 64 calculates the pulse generation period in the pulse-shaped detection signal from the rotary encoder 32 based on the clock signal. Then, the rotation speed calculation unit 64 calculates the rotation speed Vn of the output shaft of the PF motor 14 so as to increase as the calculated pulse generation period is shorter, and sets information on the rotation speed Vn to the first applied voltage setting. Unit 65, current value calculation unit 66, difference calculation unit 67, and deceleration calculation unit 68. Therefore, in the present embodiment, the clock signal generation unit 63 and the rotation speed calculation unit 64 constitute speed detection means for calculating the rotation speed (drive speed) Vn of the PF motor 14.

  The first applied voltage setting unit 65 acquires the target speed Vt corresponding to the rotational position of the output shaft of the PF motor 14 input from the rotational position calculation unit 60 from the target speed table set in the target speed storage unit 62. . As an example, as illustrated in FIG. 4, when the rotational position of the output shaft of the PF motor 14 is the first position P1, the first applied voltage setting unit 65 corresponds to the first position P1 corresponding to the first position P1 from the target speed table. The speed Vt1 is acquired, and the first speed Vt1 is set as the target speed Vt. Then, the first applied voltage setting unit 65 outputs information on the set target speed Vt to the difference calculation unit 67, as shown in FIG. Therefore, in the present embodiment, the first applied voltage setting unit 65 functions as target speed setting means for setting the target speed Vt of the PF motor 14.

  The first applied voltage setting unit 65 applies the PF motor 14 based on the rotation speed Vn of the output shaft of the PF motor 14 input from the rotation speed calculation unit 64 and the target speed Vt acquired from the target speed table. The voltage (hereinafter also referred to as “first voltage”) V1 is set. That is, the first applied voltage setting unit 65 sets the first voltage V1 to a higher voltage as the value obtained by subtracting the rotational speed Vn from the target speed Vt is larger. Then, the first applied voltage setting unit 65 outputs information on the set first voltage V1 to the second applied voltage setting unit 71.

  The current value calculation unit 66 outputs the rotation speed Vn of the output shaft of the PF motor 14 input from the rotation speed calculation unit 64 and the voltage actually applied to the PF motor 14 input from the second applied voltage setting unit 71 (hereinafter, referred to as “current motor”). Also referred to as “second voltage.”) Based on V2, the current value I flowing through the PF motor 14 is calculated. In other words, when the rotational speed Vn of the output shaft of the PF motor 14 is constant, the torque output from the PF motor 14 increases as the second voltage V2 applied to the PF motor 14 increases. I is a large value. When the second voltage V2 applied to the PF motor 14 is constant, the higher the rotational speed Vn of the output shaft of the PF motor 14, the smaller the torque output from the PF motor 14, so the current value I is a small value. Then, the current value calculation unit 66 outputs information regarding the calculated current value I to the torque calculation unit 69 and the heat storage amount calculation unit 70. Therefore, in the present embodiment, the current value calculation unit 66 functions as a current value acquisition unit that acquires the current value I flowing through the PF motor 14.

  The difference calculation unit 67 calculates a difference Vsub (= Vt−Vn) between the target speed Vt input from the first applied voltage setting unit 65 and the rotation speed Vn input from the rotation speed calculation unit 64. Then, the difference calculation unit 67 outputs information regarding the calculated difference Vsub to the torque calculation unit 69. Therefore, in this embodiment, the difference calculation unit 67 functions as a difference acquisition unit.

  The deceleration calculation unit 68 performs time differentiation on the rotation speed Vn input from the rotation speed calculation unit 64 to obtain the deceleration DVn of the output shaft of the PF motor 14. Then, the deceleration calculation unit 68 outputs information regarding the acquired deceleration DVn to the torque calculation unit 69. Therefore, in this embodiment, the deceleration calculation unit 68 functions as a deceleration calculation unit.

  The torque calculation unit 69 outputs from the PF motor 14 based on the difference Vsub input from the difference calculation unit 67, the deceleration DVn input from the deceleration calculation unit 68, and the torque calculation command from the second applied voltage setting unit 71. It is determined whether or not the torque Tr to be calculated is to be calculated. When the torque calculation unit 69 determines to calculate the torque Tr, the current value I input from the current value calculation unit 66 is multiplied by a predetermined torque calculation count, and the multiplication result is obtained from the PF motor 14. The torque Tr to be output is assumed. Further, the torque calculation unit 69 outputs information regarding the calculated torque Tr to the second applied voltage setting unit 71. Therefore, in this embodiment, the torque calculation unit 69 functions as a torque calculation unit.

  The heat storage amount calculation unit 70 calculates the heat storage amount Es of the PF motor 14 at predetermined intervals based on the current value I input from the current value calculation unit 66. Specifically, the heat storage amount calculation unit 70 calculates the heat generation amount of the PF motor 14 per time (hereinafter also referred to as “unit time”) corresponding to a predetermined period when the PF motor 14 is driven. Based on the current value I input from 66. On the other hand, the heat storage amount calculation unit 70 calculates the amount of heat released from the PF motor 14 per unit time when the PF motor 14 is stopped. As an example, the heat storage amount calculation unit 70 multiplies the heat storage amount Es calculated last time by a heat release gain (for example, 0.1), and sets the multiplication result as the heat release amount per unit time. Then, when the PF motor 14 is driven, the heat storage amount calculation unit 70 adds the calculated heat generation amount to the heat storage amount Es calculated previously, and the addition result is used as the heat storage amount Es of the PF motor 14 this time. . Further, when the PF motor 14 is stopped, the heat storage amount calculation unit 70 subtracts the calculated heat release amount from the previously calculated heat storage amount Es and sets the subtraction result as the current heat storage amount Es of the PF motor 14. . Then, the heat storage amount calculation unit 70 outputs information related to the calculated heat storage amount Es to the second applied voltage setting unit 71. Therefore, in this embodiment, the heat storage amount calculation unit 70 functions as a heat storage amount calculation unit.

  The second applied voltage setting unit 71 outputs a torque calculation command to the torque calculation unit 69 as necessary based on the heat storage amount Es input from the heat storage amount calculation unit 70. The second applied voltage setting unit 71 also includes the first voltage V1 input from the first applied voltage setting unit 65, the torque Tr input from the torque calculation unit 69, and the heat storage input from the heat storage amount calculation unit 70. Based on the amount Es, the second voltage V2 actually applied to the PF motor 14 is set. Then, the second applied voltage setting unit 71 outputs information on the set second voltage V <b> 2 to the signal generation unit 72 and the current value calculation unit 66.

  The signal generation unit 72 includes a PWM (Pulse Width Modulation) waveform generation circuit (not shown). Then, the signal generation unit 72 generates a drive signal (pulse signal) corresponding to the second voltage V <b> 2 input from the second applied voltage setting unit 71, and outputs the drive signal to the PF driver 43. As a result, the PF motor 14 is driven in a manner corresponding to the drive signal.

Next, the PF motor drive processing routine executed by the PF control unit 52 will be described based on the flowcharts shown in FIGS. 5 and 6 and the timing chart shown in FIG.
The PF motor drive processing routine is executed when a control command for prompting conveyance of the paper P is input from the main control unit 50. In the first step S10, the target speed setting unit 61 constructs a target speed table (see FIG. 4) according to the transport amount of the paper P, and stores the target speed table in the target speed storage unit 62. In the next step S <b> 11, the rotational position calculation unit 60 calculates the rotational position Pn of the output shaft of the PF motor 14 based on the pulsed detection signal from the rotary encoder 32.

  In the next step S12, the first applied voltage setting unit 65 determines whether or not the rotational position (that is, the current rotational position) Pn of the output shaft of the PF motor 14 calculated in step S11 matches the target position Pt. judge. The target position Pt is a rotational position where the output shaft of the PF motor 14 should be originally positioned when the conveyance of the paper P based on the current control command is completed. The first applied voltage setting unit 65 does not need to drive the PF motor 14 when the rotational position Pn coincides with the target position Pt. Therefore, the first applied voltage setting unit 65 ends the PF motor drive processing routine, while the rotational position Pn is If it does not coincide with the target position Pt, the process proceeds to the next step S13.

  In step S <b> 13, the rotation speed calculation unit 64 calculates the rotation speed Vn of the output shaft of the PF motor 14 based on the pulsed detection signal from the rotary encoder 32. Therefore, in this embodiment, step S13 corresponds to a speed detection step.

  In the next step S14, the first applied voltage setting unit 65 obtains the target speed Vt of the output shaft of the PF motor 14 corresponding to the rotational position Pn calculated in step S11 from the target speed table constructed in step S10. To do. Therefore, in this embodiment, step S14 corresponds to a speed setting step. In the next step S15, the first applied voltage setting unit 65 sets the first voltage V1 based on the rotation speed Vn calculated in step S13 and the target speed Vt acquired in step S14. The first voltage V1 is a voltage necessary to bring the rotational speed Vn close to the target speed Vt.

  In the next step S16, the current value calculation unit 66 calculates the current value I flowing through the PF motor 14 based on the second voltage V2 applied to the PF motor 14 and the rotation speed Vn calculated in step S13. Therefore, in this embodiment, step S16 corresponds to a current value acquisition step.

  In the next step S17, the heat storage amount calculation unit 70 calculates the heat storage amount Es of the PF motor 14 based on the current value I calculated in step S16. In the next step S18, the second applied voltage setting unit 71 determines whether or not the heat storage amount Es calculated in step S17 is greater than or equal to a preset heat storage amount threshold value KEs. This heat storage amount threshold value KEs is a reference value for determining whether or not the heat storage amount Es of the PF motor 14 may be excessive, and is a value set in advance based on the motor characteristics. When the heat storage amount Es is less than the heat storage amount threshold value KEs, the second applied voltage setting unit 71 shifts the process to step S20 described later, while the heat storage amount Es is equal to or greater than the heat storage amount threshold value KEs. Shifts the process to the next step S19.

  In step S <b> 19, the second applied voltage setting unit 71 sets the second limit value KTr <b> 2 as the heat storage amount torque limit value and outputs a torque calculation command to the torque calculation unit 69. Then, the 2nd applied voltage setting part 71 makes the process transfer to step S21 mentioned later. The second limit value KTr2 is a reference value for limiting the torque Tr output from the PF motor 14 when the PF motor 14 has excessive heat storage.

  In step S20, the second applied voltage setting unit 71 cancels the setting of the second limit value KTr2, and then shifts the processing to the next step S21. Note that when the second limit value KTr2 is not set, the output of the torque Tr of the PF motor 14 for suppressing the increase in the heat storage amount Es of the PF motor 14 is not performed.

  In step S21, the deceleration calculation unit 68 determines whether or not the control state of the PF motor 14 is the second control state. Here, as shown in FIG. 7A, the control state of the PF motor 14 is the first control state, the second control state next to the first control state, and the third control state next to the second control state. being classified. The first control state is a control state for accelerating the rotational speed Vn of the output shaft of the PF motor 14, and includes an acceleration region set by the target speed setting unit 61 and a part of the beginning of the constant speed region. Is included. The first part of the constant speed region is a portion that overshoots when controlling the rotation of the output shaft of the PF motor 14, and is a control region in which the rotational speed Vn is not actually stable yet. . The second control state is a control region where the rotational speed Vn of the output shaft of the PF motor 14 is actually stable. The third control state is a control region in which the rotational speed Vn of the output shaft of the PF motor 14 is decelerated and substantially coincides with the deceleration region.

  Returning to FIG. 6, when the control state of the PF motor 14 is not the second control state, the deceleration calculation unit 68 shifts the process to step S <b> 24 described later, while the control state of the PF motor 14 is the second control state. If so, the process proceeds to the next step S22.

  In step S22, the deceleration calculation unit 68 calculates the deceleration DVn of the output shaft of the PF motor 14 based on the rotation speed Vn calculated in step S13. In the next step S23, the torque calculator 69 determines whether or not the deceleration DVn calculated in step S22 is greater than or equal to a preset deceleration threshold KDVn. This deceleration threshold KDVn is abnormal on the torque transmission path from the PF motor 14 that should be driven at a constant speed, the roller pairs 30 and 31 that are driven by the torque Tr output from the PF motor 14, and the PF motor 14. This is a reference value for determining whether or not the above has occurred, and is set in advance by experiments or simulations. Then, when the deceleration DVn is equal to or greater than the deceleration threshold value KDVn, the torque calculation unit 69 shifts the process to step S28 described later, whereas when the deceleration DVn is less than the deceleration threshold value KDVn, the process is performed. Is moved to the next step S24.

  In step S24, the difference calculation unit 67 subtracts the rotation speed Vn calculated in step S13 from the target speed Vt acquired in step S14, and acquires the difference Vsub. Therefore, in this embodiment, step S24 corresponds to a difference acquisition step.

  In the next step S25, the torque calculation unit 69 sets a difference threshold value KVsub according to the control state (first control state, second control state, third control state) of the PF motor 14. Specifically, as shown in FIG. 7B, the torque calculation unit 69 sets the difference threshold KVsub to the first value KV1 in the first control state, while the second control state and In the case of the third control state, the second value KV2 smaller than the first value KV1 is set. The first value KV1 and the second value KV2 are set so that the difference Vsub does not exceed when the paper P is normally conveyed. Therefore, in this embodiment, the torque calculation unit 69 also functions as a threshold setting unit.

  Returning to FIG. 6, in step S <b> 26, the torque calculator 69 determines whether or not the difference Vsub calculated in step S <b> 24 is greater than or equal to the difference threshold KVsub set in step S <b> 25. Then, when the difference Vsub is greater than or equal to the difference threshold value KVsub, the torque calculation unit 69 shifts the process to step S28 described later, while when the difference Vsub is less than the difference threshold value KVsub, the process proceeds to the next step. The process proceeds to S27.

  In step S27, the torque calculation unit 69 determines whether or not the second limit value KTr2 is set. Then, when the second limit value KTr2 is not set (that is, when step S20 is executed), the torque calculation unit 69 shifts the process to step S34 described later, while the second limit value KTr2 Is set (that is, when step S19 is executed), the process proceeds to the next step S28.

  In step S28, the torque calculator 69 calculates the torque Tr output from the PF motor 14 based on the current value I calculated in step S16. Therefore, in this embodiment, step S28 corresponds to a torque calculation step.

  In the next step S29, the second applied voltage setting unit 71 sets the first limit as the torque limit value for difference according to the control state (first control state, second control state, third control state) of the PF motor 14. Set the value KTr1. Specifically, as shown in FIG. 7C, the second applied voltage setting unit 71 sets the first limit value KTr1 as the second limit value KTr2 when the first control state and the third control state are set. On the other hand, when it is in the second control state, it is set to a value smaller than the second limit value KTr2. That is, when the output shaft of the PF motor 14 is accelerating / decelerating, a large torque Tr is likely to be generated from the PF motor 14, so the first limit value KTr1 in the first control state and the third control state is: A value larger than the first limit value KTr1 in the second control state is set. Therefore, in the present embodiment, the second applied voltage setting unit 71 also functions as a limit value setting unit.

  Returning to FIG. 6, in the next step S30, the second applied voltage setting unit 71 determines whether or not the first limit value KTr1 set in step S29 is less than the second limit value KTr2. When the first limit value KTr1 is greater than or equal to the second limit value KTr2, the second applied voltage setting unit 71 shifts the process to step S32 described later, while the first limit value KTr1 is the second limit value. If it is less than KTr2, the process proceeds to the next step S31.

  In step S31, the second applied voltage setting unit 71 determines whether or not the torque Tr calculated in step S28 exceeds the first limit value KTr1 set in step S29. Then, when the torque Tr is equal to or less than the first limit value KTr1, the second applied voltage setting unit 71 shifts the process to step S34 described later, while the torque Tr exceeds the first limit value KTr1. Shifts the process to step S33 to be described later.

  In step S32, the second applied voltage setting unit 71 determines whether or not the torque Tr calculated in step S28 exceeds the second limit value KTr2 set in step S19. Then, when the torque Tr is equal to or less than the second limit value KTr2, the second applied voltage setting unit 71 shifts the process to step S34, which will be described later, while the torque Tr exceeds the second limit value KTr2. Shifts the process to the next step S33.

  In step S33, the second applied voltage setting unit 71 performs torque output restriction control. Specifically, the second applied voltage setting unit 71 sets, as the second voltage V2, a voltage that causes the torque Tr to be less than the first limit value KTr1 when the determination process of step S31 is executed. Further, the second applied voltage setting unit 71 sets a voltage at which the torque Tr is less than the second limit value KTr2 as the second voltage V2 when the determination process of step S32 is executed. The second voltage V2 set in this way is lower than the first voltage V1 set in step S15. Thereafter, the second applied voltage setting unit 71 shifts the process to the next step S34. Therefore, in this embodiment, the 2nd applied voltage setting part 71 functions also as a voltage adjustment means. Step S33 corresponds to a voltage adjustment step.

  In step S <b> 34, the signal generation unit 72 generates a drive signal corresponding to the set second voltage V <b> 2 and outputs the drive signal to the PF driver 43. At this time, when the torque output restriction process in step S33 is not executed, the second voltage V2 is set to the same voltage as the first voltage V1 set in step S15. Thereafter, the signal generator 72 shifts the process to the above-described step S11.

Therefore, according to the above embodiment, the following effects can be obtained.
(1) When the paper P is transported, a so-called paper jam may occur in which the paper P cannot be transported normally. In this case, each of the roller pairs 30 and 31 that are driven based on the torque Tr output from the PF motor 14 may not be driven properly even though the torque Tr is transmitted. Then, a great load is applied to each pair of rollers 30, 31, various members (gear, etc.) arranged on the torque transmission path between each pair of rollers 30, 31 and the PF motor 14 and the PF motor 14. Therefore, in the present embodiment, when the PF motor 14 is driven, when the difference Vsub between the set target speed Vt and the calculated rotation speed Vn is equal to or greater than the difference threshold KVsub, each roller pair 30, 31, It is determined that this is an abnormal state in which a great load is applied to the various members and the PF motor 14 arranged on the torque transmission path between the roller pairs 30 and 31 and the PF motor 14. Then, the torque Tr output from the PF motor 14 is calculated based on the current value I flowing through the PF motor 14. When the calculated torque Tr exceeds the first limit value KTr1, the second voltage V2 applied to the PF motor 14 is reduced to limit the torque Tr output from the PF motor 14. That is, the limit control of the torque Tr output from the PF motor 14 can be executed at an appropriate timing. Therefore, it is possible to suitably protect each roller pair 30, 31, various members arranged on the torque transmission path between each roller pair 30, 31 and the PF motor 14 and the PF motor 14.

  (2) On the other hand, when the difference Vsub is less than the difference threshold value KVsub, it is determined that there is no abnormal state, and the torque Tr output from the PF motor 14 is not calculated. That is, when the torque Tr having an appropriate magnitude is output from the PF motor 14, the torque Tr is not calculated by the multiplication process using the current value I. Incidentally, the multiplication process for calculating the torque Tr has a very large control load compared to the subtraction process for calculating the difference Vsub and the determination process using the difference Vsub and the difference threshold value KVsub. Therefore, compared with the case where the torque Tr is calculated regardless of the magnitude of the difference Vsub, it is possible to reduce the control load of the PF control unit 52 by the amount that the torque Tr is calculated.

  (3) The difference Vsub in the first control state tends to be larger than the difference Vsub in the second control state or the third control state. Therefore, assuming that the difference threshold value KVsub is a constant value regardless of the control state, in the first control state, the difference Vsub generated when accelerating the rotation of the output shaft of the PF motor 14 is equal to or greater than the difference threshold value KVsub. Even if it is not an abnormal state, there is a possibility that the calculation process of the torque Tr is performed. In the second control state and the third control state, even if the difference Vsub becomes large due to an abnormal state, it takes time until the difference Vsub becomes equal to or greater than the difference threshold KVsub, and the torque Tr calculation process There is a possibility that the timing at which the output limitation of the torque Tr is started is delayed.

  In this regard, in the present embodiment, the difference threshold value KVsub in the first control state is set to a larger value than in the second control state or the third control state. Therefore, compared with the case where the difference threshold value KVsub is a constant value regardless of the control state, the number of times of calculation of the torque Tr using the current value I can be reduced, and the control load of the PF control unit 52 can be further reduced. it can. Further, in the second control state or the third control state, the output limitation of the torque Tr can be started at an appropriate timing.

  (4) In the present embodiment, the current value I flowing through the PF motor 14 is calculated from the detected rotation speed Vn of the output shaft of the PF motor 14 and the second voltage V2 applied to the PF motor 14. Therefore, it is not necessary to separately provide a sensor for detecting the current value I flowing through the PF motor 14, which can contribute to a reduction in the number of parts of the recording apparatus 11.

  (5) The current value I used for calculating the torque Tr is also used when calculating the heat storage amount Es of the PF motor 14. That is, using one parameter (in this case, the current value I), a plurality (two in this embodiment) of values (torque Tr and heat storage amount Es) are calculated. Therefore, the control load of the PF control unit 52 can be reduced as compared with the case where the torque Tr and the heat storage amount Es are calculated using different parameters.

  (6) If the heat storage amount Es of the PF motor 14 becomes too large, the performance of the PF motor 14 may be deteriorated or the life of the PF motor 14 may be shortened. Therefore, in the present embodiment, when the heat storage amount Es of the PF motor 14 is equal to or greater than the heat storage amount threshold value KEs, the torque Tr output from the PF motor 14 is calculated. When the calculated torque Tr exceeds the second limit value KTr2, the output of the torque Tr is limited. Therefore, it is possible to suppress an excess of the heat storage amount Es of the PF motor 14 and appropriately protect the PF motor 14.

  (7) Output of torque Tr is limited based on the limit value (for example, first limit value KTr1) having a smaller value among the limit values KTr1 and KTr2. Therefore, it is possible to achieve both suppression of excessive heat storage amount Es of the PF motor 14 and suppression of excessive output of torque Tr of the PF motor 14.

  (8) When the target speed Vt is a constant speed region that is set to the same speed continuously a plurality of times, the deceleration DVn of the PF motor 14 does not normally increase. In other words, when the deceleration DVn of the PF motor 14 increases in the constant speed region, there is a possibility that an abnormal state has occurred. Therefore, in the present embodiment, when the deceleration DVn of the PF motor 14 is equal to or greater than the deceleration threshold value KDVn in the constant speed region, there is a possibility that an abnormal state has occurred, so regardless of the magnitude of the difference Vsub. A torque Tr output from the PF motor 14 is calculated. Then, when the calculated torque Tr exceeds the first limit value KTr1, output limitation of the torque Tr is started. Therefore, it is possible to appropriately protect each roller pair 30, 31, various members arranged on the torque transmission path between each roller pair 30, 31 and the PF motor 14 and the PF motor 14.

  (9) In the present embodiment, the first limit value KTr1 is set to a value according to the control state (first control state, second control state, third control state). Therefore, the output limitation of the torque Tr can be started at an appropriate timing according to the control state at that time.

(10) Since the PF motor 14 is appropriately protected, the product life of the recording apparatus 11 can be extended.
In addition, you may change the said embodiment as follows.

  In the embodiment, each process of steps S21, S22, and S23 may be omitted. That is, it is not necessary to determine whether to start calculating the torque Tr based on the deceleration DVn in the case of the second control state.

  The way of changing the difference Vsub in the first control state is almost the same every time as shown in FIG. Similarly, the way of changing the difference Vsub in the third control state is almost the same every time. Therefore, as shown in FIG. 8B, a change in the difference Vsub corresponding to the characteristics of the PF motor 14 is acquired in advance, and a predetermined offset value Oft is added to the previously acquired change in the difference Vsub. The addition result may be the difference threshold value KVsub. If comprised in this way, the optimal difference threshold value KVsub according to the rotational position Pn of the output shaft of the PF motor 14 can be set.

  In the embodiment, when the difference Vsub is equal to or greater than the difference threshold value KVsub, the torque is triggered when the calculated torque Tr exceeds the first limit value KTr1 regardless of the size of the limit values KTr1 and KTr2. Tr output may be limited.

  In the embodiment, when the second limit value KTr2 is set, the torque Tr is triggered when the calculated torque Tr exceeds the second limit value KTr2 regardless of the size of the limit values KTr1 and KTr2. May be limited.

  In the embodiment, when the heat storage amount Es of the PF motor 14 is equal to or greater than the heat storage amount threshold Es, torque output is limited regardless of the magnitude of the torque Tr output from the PF motor 14 at the present time. Also good.

  In the embodiment, a current sensor for detecting the current value I flowing through the PF motor 14 may be provided. If comprised in this way, the control load in the PF control part 52 can be reduced. In the present invention, “acquisition” is a concept including both calculation and detection using a sensor.

In the embodiment, the difference threshold value KVsub in the third control state may be set to a value smaller than the difference threshold value KVsub in the first control state.
In the embodiment, the difference threshold value KVsub may be a constant value regardless of the control state (the first control state, the second control state, and the third control state).

In the embodiment, the PF motor 14 and the CR motor 20 may be direct current motors.
The present invention may be embodied to limit the torque output of the CR motor 20.

  In each embodiment, the recording apparatus is embodied as an ink jet type serial printer. However, a liquid ejecting apparatus that ejects or ejects liquid (recording material) other than ink may be employed. The present invention can be used for various liquid ejecting apparatuses including a liquid ejecting head that ejects the liquid droplets. In addition, a droplet means the state of the liquid discharged from the said liquid ejecting apparatus, and shall also include what pulls a tail in granular shape, tear shape, and thread shape. The liquid here may be any material that can be ejected by the liquid ejecting apparatus. For example, it may be in the state when the substance is in a liquid phase, such as a liquid state with high or low viscosity, sol, gel water, other inorganic solvents, organic solvents, solutions, liquid resins, liquid metals (metal melts ) And a liquid as one state of a substance, as well as a material in which particles of a functional material made of a solid such as a pigment or metal particles are dissolved, dispersed or mixed in a solvent. Further, representative examples of the liquid include ink and liquid crystal as described in the above embodiment. Here, the ink includes general water-based inks and oil-based inks, and various liquid compositions such as gel inks and hot melt inks. As a specific example of the liquid ejecting apparatus, for example, a liquid containing a material such as an electrode material or a color material used for manufacturing a liquid crystal display, an EL (electroluminescence) display, a surface emitting display, or a color filter in a dispersed or dissolved form. It may be a liquid ejecting apparatus for ejecting, a liquid ejecting apparatus for ejecting a bio-organic material used for biochip manufacturing, a liquid ejecting apparatus for ejecting a liquid as a sample used as a precision pipette, a printing apparatus, a microdispenser, or the like. In addition, transparent resin liquids such as UV curable resin to form liquid injection devices that pinpoint lubricant oil onto precision machines such as watches and cameras, and micro hemispherical lenses (optical lenses) used in optical communication elements. A liquid ejecting apparatus that ejects a liquid onto the substrate or a liquid ejecting apparatus that ejects an etching solution such as an acid or an alkali to etch the substrate may be employed. The present invention can be applied to any one of these injection devices.

In the embodiment, the recording device may be an impact printer such as a dot impact printer as long as the recording device is a device including a motor.
In the embodiment, the electronic device may be any device (for example, a scanner) other than the recording device, as long as the device includes a motor.

Next, the technical idea that can be grasped from the above embodiment and another embodiment will be added below.
(A) The difference torque limit value is a control state after the first control state and the second control state, and a third control state including a region where the drive speed of the drive source is decelerated. In some cases, the apparatus further includes limit value setting means for setting a larger value than in the case of the second control region.

  (B) The speed setting means includes a region where the target speed is gradually increased, a region where the target speed is constant, and a region where the target speed is gradually decreased according to the drive amount of the driven part displaced by driving of the drive source. Set.

(C) A control device for an electronic device including a drive source,
Current value acquisition means for acquiring a current value flowing through the drive source;
Speed setting means for setting a target speed of the drive source;
Speed detecting means for detecting a driving speed of the driving source;
A deceleration calculating means for calculating a deceleration of the drive source when the target speed set by the speed setting means is the same speed continuously several times;
Torque calculating means for calculating torque output from the drive source based on the current value acquired by the current value acquiring means;
Voltage adjustment means for reducing the voltage applied to the drive source when the torque calculated by the torque calculation means exceeds a set differential torque limit value;
The torque calculation means does not calculate the torque output from the drive source when the deceleration calculated by the deceleration calculation means is less than a preset deceleration threshold. Control device.

  DESCRIPTION OF SYMBOLS 11 ... Recording device as electronic equipment, 14, 20 ... Motor as drive source, 15 ... Feeding device as driven part, 17 ... Carriage as driven part, 40 ... Control device, 63 ... Speed detection means A clock signal generating unit constituting 64, a rotational speed calculating unit constituting a speed detecting unit, 65 a first applied voltage setting unit serving as a speed setting unit, 66 a current value calculating unit serving as a current value obtaining unit, and 67 a difference. Difference calculation unit as an acquisition unit, 68 ... Deceleration calculation unit as a deceleration calculation unit, 69 ... Torque calculation unit, Torque calculation unit as a threshold setting unit, 70 ... Heat storage amount calculation unit as a heat storage amount calculation unit, 71 ... Voltage adjusting means, second applied voltage setting section as limit value setting means, DVn ... deceleration, Es ... heat storage amount, I ... current value, KDVn ... deceleration threshold, KEs ... heat storage amount threshold, KTr1 ... difference The first limit value as the torque limit value, KTr2 ... the second limit value as the torque limit value for the heat storage amount, KV1 ... the first value, KV2 ... the second value, KVsub ... the difference threshold value, Tr ... the torque, V1 , V2 ... voltage, Vn ... rotational speed as drive speed, Vsub ... difference, Vt ... target speed.

Claims (8)

A control device for an electronic device including a drive source,
Current value acquisition means for acquiring a current value flowing through the drive source;
Speed setting means for setting a target speed of the drive source;
Speed detecting means for detecting a driving speed of the driving source;
Difference acquisition means for acquiring a difference between the target speed set by the speed setting means and the drive speed detected by the speed detection means;
Torque calculating means for calculating torque output from the drive source based on the current value acquired by the current value acquiring means;
Voltage adjustment means for reducing the voltage applied to the drive source when the torque calculated by the torque calculation means exceeds a set differential torque limit value;
The electronic device control device, wherein the torque calculation unit does not calculate a torque output from the drive source when the difference acquired by the difference acquisition unit is less than a set difference threshold. The difference threshold is set to a first value when the first control state includes a region for increasing the drive speed of the drive source, while the difference threshold is a control state after the first control state and the 2. A threshold value setting means for setting a second value smaller than the first value in the second control state including a region in which the drive speed of the drive source is constant. The control apparatus of the electronic device as described in 2. The current value acquisition unit calculates a current value flowing through the drive source based on a drive speed of the drive source detected by the speed detection unit and a voltage applied to the drive source. The control apparatus of the electronic device of Claim 1 or Claim 2. A heat storage amount calculating means for calculating a heat storage amount of the drive source based on a current value flowing through the drive source acquired by the current value acquisition means;
The torque calculation means calculates the torque output from the drive source when the heat storage amount calculated by the heat storage amount calculation means is greater than or equal to a preset heat storage amount threshold,
The voltage adjustment unit is configured to set a torque limit for the heat storage amount, in which the torque calculated by the torque calculation unit is preset when the heat storage amount calculated by the heat storage amount calculation unit is equal to or greater than a preset heat storage amount threshold value. The electronic device control device according to claim 3, wherein when the value is exceeded, the voltage applied to the drive source is reduced. The voltage adjusting means is
When the difference torque limit value is equal to or greater than the heat storage amount torque limit value, the voltage applied to the drive source is reduced when the torque calculated by the torque calculation means exceeds the heat storage amount torque limit value. While letting
When the difference torque limit value is less than the heat storage amount torque limit value, when the torque calculated by the torque calculation unit exceeds the difference torque limit value, the power supplied to the drive source is reduced. The electronic apparatus control device according to claim 4. A deceleration calculating means for calculating a deceleration of the drive source when the target speed set by the speed setting means is the same speed continuously several times;
The torque calculation means outputs from the drive source based on the current value acquired by the current value acquisition means when the deceleration calculated by the deceleration calculation means is greater than or equal to a preset deceleration threshold value. The electronic device control apparatus according to claim 1, wherein a torque to be calculated is calculated. A driving source;
A driven part driven by torque output from the driving source;
An electronic device comprising: the electronic device control device according to any one of claims 1 to 6. A torque output limiting method for a drive source mounted on an electronic device,
A current value acquisition step of acquiring a current value flowing through the drive source;
A speed setting step for setting a target speed of the drive source;
A speed detecting step for detecting a driving speed of the driving source;
A difference acquisition step for acquiring a difference between the target speed set in the speed setting step and the drive speed detected in the speed detection step;
A torque calculating step for calculating torque output from the drive source based on the current value acquired in the current value acquiring step;
A voltage adjustment step of reducing the voltage applied to the drive source when the torque calculated in the torque calculation step exceeds a set torque limit value for difference,
The torque output limiting method for a drive source, wherein the torque calculation step is not performed when the difference acquired in the difference acquisition step is less than a set difference threshold.

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