JP2022145000A - Motor controller and image forming apparatus - Google Patents

Abstract

To provide a technique to determine a motor type before start-up to set an appropriate control parameter.SOLUTION: A motor controller comprises: voltage application means that applies voltage to a plurality of coils of a motor having the plurality of coils to cause coil current to flow in the plurality of coils; measuring means that measures a current value of the coil current; control means that controls the voltage application means to cause the coil current to flow in the plurality of coils in respective patterns of a plurality of patterns and causes the measuring means to measure the current values of the coil currents in the respective patterns to acquire measurement information including a plurality of measured values; and holding means that holds a plurality of pieces of reference information corresponding to a plurality of motor types, the plurality of pieces of reference information corresponding to the motor types indicating a plurality of reference values. The control means compares the measurement information with each of the plurality of pieces of reference information to determine the motor type of the motor.SELECTED DRAWING: Figure 9

Description

The present invention relates to motor control technology.

A motor is used as a drive source for each member of the image forming apparatus. Since the characteristics of the motor may differ depending on the type, the image forming apparatus needs to change the control parameters according to the type of motor to be driven. Therefore, the image forming apparatus needs to determine the type of motor to be driven. Patent Literature 1 discloses a method of measuring the time required for acceleration and deceleration of a motor and determining the type of motor from the measured time.

JP 2020-44741 A

In the method of Patent Document 1, since the motor type cannot be determined before starting the motor, the starting of the motor may become unstable.

The present invention provides a technique for determining the type of motor before starting and setting appropriate control parameters.

According to one aspect of the present invention, a motor control device includes voltage applying means for applying a voltage to the plurality of coils of a motor having a plurality of coils and causing a coil current to flow in the plurality of coils; and a current value of the coil current. and a measuring means for measuring the voltage applying means to apply a coil current to the plurality of coils in each of a plurality of patterns, and cause the measuring means to measure the current value of the coil current of each pattern, a control means for acquiring measurement information including a plurality of measured values; and a plurality of reference information corresponding to each of a plurality of motor types, wherein the reference information corresponding to the motor type indicates a plurality of reference values. holding means for holding information, wherein the control means determines the motor type of the motor by comparing the measurement information with each of the plurality of reference information.

According to the present invention, it is possible to determine the motor type before starting and set appropriate control parameters.

1 is a configuration diagram of an image forming apparatus according to an embodiment; FIG. FIG. 2 is a control configuration diagram of an image forming apparatus according to an embodiment; The block diagram of the motor control part by one Embodiment. 1 is a configuration diagram of a motor according to one embodiment; FIG. FIG. 5 is a diagram showing temporal changes in the voltage applied to the coil and the coil current in the process of detecting the rotor stop position according to the embodiment; FIG. 5 is a diagram showing the maximum value of the coil current for each different rotor stop position for each pattern of the coil current; FIG. 5 is a diagram showing the maximum value of the coil current for each different rotor stop position for each pattern of the coil current; FIG. 4 illustrates a template according to one embodiment; FIG. 4 is an explanatory diagram of a method of calculating an error for one template according to one embodiment; 4 is a flowchart of coil type determination processing according to an embodiment; 4 is a flowchart of coil type determination processing according to an embodiment;

Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. In addition, the following embodiments do not limit the invention according to the scope of claims. Although multiple features are described in the embodiments, not all of these multiple features are essential to the invention, and multiple features may be combined arbitrarily. Furthermore, in the accompanying drawings, the same or similar configurations are denoted by the same reference numerals, and redundant description is omitted.

<First Embodiment>
FIG. 1 is a configuration diagram of an image forming apparatus 10 according to this embodiment. The image forming apparatus 10 is, for example, a printer, a copier, a multifunction machine, a facsimile machine, or the like. The sheet stored in the cassette 25 is fed to the sheet conveying path by the feeding roller 26 . The conveying roller 27 conveys the fed sheet downstream. The image forming unit 1 forms a toner image on an internal image carrier based on image data, and transfers the formed toner image to a sheet. The sheet onto which the toner image has been transferred is conveyed to the fixing section 24 . The fixing unit 24 heats and presses the sheet to fix the toner image on the sheet. After fixing the toner image, the sheet is discharged outside the image forming apparatus 10 . A motor 15</b>F is a drive source that drives the rollers of the fixing section 24 . Note that the image forming apparatus 10 may also have a motor different from the motor 15F that drives other members.

FIG. 2 shows the control configuration of the image forming apparatus 10. As shown in FIG. The printer control section 11 controls the entire image forming apparatus 10 including the image forming section 1 and the fixing section 24 described above. The printer control unit 11 has a processor (not shown) and a memory that stores programs and various control data. The processor of the printer control section 11 performs various processes for controlling the image forming apparatus 10 by executing programs stored in the memory of the printer control section 11 . At that time, the printer control section 11 uses the control data stored in the memory. The communication controller 21 communicates with the host computer 22 and receives image data of an image formed by the image forming apparatus 10 from the host computer 22 . The motor control section 14 controls the motor 15F under the control of the printer control section 11 .

FIG. 3 shows details of the control configuration of the motor 15F. The motor control unit 14 has a microcomputer (hereinafter referred to as a microcomputer) 51 . The microcomputer 51 communicates with the printer control section 11 via the communication port 52 . A reference clock generator 56 of the microcomputer 51 is connected to the crystal oscillator 50 and generates a reference clock based on the output of the crystal oscillator 50 . The counter 54 performs a counting operation based on the reference clock. Microcomputer 51 outputs a pulse width modulation signal (PWM signal) from PWM port 58 . In this embodiment, the microcomputer 51 outputs high-side PWM signals (UH, VH, WH) and low-side PWM signals for each of the three phases (U, V, W) of the motor 15F. A total of 6 PWM signals (UL, VL, WL) are output. Thus, PWM port 58 has six terminals UH, VH, WH, UL, VL, and WL.

Each terminal of the PWM port 58 is connected to the gate driver 61, and the gate driver 61 performs ON/OFF control of each switching element of the three-phase inverter 60 based on the PWM signal. The inverter 60 has a total of six switching elements, three high-side and three low-side, for each phase, and the gate driver 61 controls each switching element based on the corresponding PWM signal. A transistor or an FET, for example, can be used as the switching element. In this embodiment, when the PWM signal is high, the corresponding switching element is turned on, and when it is low, the corresponding switching device is turned off. An output 62 of the inverter 60 is connected to coils 73 (U phase), 74 (V phase) and 75 (W phase) of the motor 15F. By ON/OFF controlling each switching element of the inverter 60, the motor current (excitation current) of each coil 73, 74, 75 can be controlled. In this way, the gate driver 61 and the inverter 60 function as a voltage applying section that applies voltages to the plurality of coils 73 , 74 and 75 in order to pass coil currents through the plurality of coils 73 , 74 and 75 . The motor currents flowing through the coils 73, 74 and 75 are converted by the resistors 63 into voltages having voltage values corresponding to the current values. A voltage value of the resistor 63 is input to the AD converter 53 of the microcomputer 51 . The AD converter 53 converts the voltage value (analog value) of the resistor 63 into a digital value. The microcomputer 51 detects the current value of the coil current based on the digital value output by the AD converter 53 . In this manner, the resistor 63 and the AD converter 53 constitute a measuring section that measures the current value of the coil current. The microcomputer 51 also has a nonvolatile memory 55 and a memory 57 that hold and store various data used for controlling the motor 15F.

FIG. 4 is a configuration diagram of the motor 15F. The motor 15F has a 6-slot stator 71 and a 4-pole rotor 72 . The stator 71 has coils 73, 74, 75 for each phase. The rotor 72 is composed of permanent magnets and has two pairs of N and S poles.

Generally, a coil has a structure in which a copper wire is wound around a core in which electromagnetic steel sheets are laminated. Magnetic permeability of an electromagnetic steel sheet becomes smaller when there is an external magnetic field. Since the inductance of the coil is proportional to the magnetic permeability of the core, when the magnetic permeability of the core decreases, the inductance of the coil also decreases. For example, only the S pole of the rotor 72 faces the U-phase coil 73 in FIG. rate increases.

Also, the amount of change in inductance differs depending on whether the direction of the magnetic field generated by the coil current is the same as or opposite to the direction of the magnetic field generated by the magnetic poles of the rotor 72 . Specifically, in the state shown in FIG. 4, when the U-phase coil 73 is supplied with a coil current in the same direction as the magnetic field generated by the S pole of the facing rotor 72, that is, so that the U-phase becomes the N pole, U The amount of decrease in inductance is greater than when the coil current is applied so that the phase is the S pole. In addition, since the iron loss of the coil changes due to the change in inductance, the resistance component of the coil also changes.

As described above, the inductance and resistance of the coil, that is, the impedance, changes depending on the stop position of the rotor 72 (rotational phase when stopped) and the pattern of the coil current. In the present embodiment, the pattern of the coil current means a pattern specified by two phases (hereinafter referred to as excitation phases) to be excited by passing the coil current and the direction of passing the coil current. Specifically, in this embodiment, since the motor 15F has three phases, "UV", "UW", "VW", "VU", "WU", " There are six patterns of WV". Here, "XY" means that the X-phase and the Y-phase are the excitation phases, and the current is caused to flow from the X-phase coil to the Y-phase coil. In this embodiment, when the coil current pattern is "XY", the X phase is the N pole and the Y phase is the S pole.

The motor control unit 14 needs to detect the stop position (rotational phase) of the rotor before starting the motor 15F, that is, when starting the rotation of the motor 15F. In this embodiment, the motor control unit 14 detects the stop position of the rotor by causing the six patterns of coil current to flow in order and comparing the maximum value of the coil current in each pattern. First, the PWM signal for passing the coil current of each pattern will be described.

FIG. 5 shows the time change of the duty ratio of the PWM signal applied to the UH terminal and the VH terminal when the coil current of the pattern "UV" among the above six patterns is passed, and the coil It shows the time change of the current and . In the A section of FIG. 5, the duty ratio of the PWM signal applied to the UH terminal is changed sinusoidally. Note that the A section corresponds to the half-wave period of the sine wave, and the duty ratio of the PWM signal applied to the UH terminal is set to 0% at the start and end of the A section. Also, although not shown, in the A section, the duty ratio of the PWM signal applied to the VL terminal is always 100%, that is, the high level. Furthermore, in the A section, the duty ratio of the PWM signal applied to the other terminals is always 0%, that is, the low level. As a result, a current flows from the U-phase coil 73 to the V-phase coil 74 . In the subsequent B section, the duty ratio of the PWM signal applied to the VH terminal is sinusoidally changed in the same manner as the PWM signal applied to the UH terminal in the A section. Also, although not shown, in the B section, the duty ratio of the PWM signal applied to the UL terminal is always at a high level. Furthermore, in the B section, the duty ratio of the PWM signal applied to the other terminals is always low level. As a result, the current from the U-phase coil 73 to the V-phase coil 74 can be attenuated so as to approach 0 at the end of the B section. By applying a PWM signal as shown in FIG. 5, the coil current becomes sinusoidal. By making the coil current sinusoidal, it is possible to suppress the noise generated by the vibration of the coil. The same applies to the PWM signal applied to each terminal in order to flow coil currents of other patterns.

6 and 7 show the maximum value of the coil current when the six patterns of coil current flow. 6(A) to 6(C) and FIGS. 7(A) to 7(C), the stop position of the rotor 72 is different. Specifically, as shown in FIG. 4, the rotor 72 in FIG. 6A has its S pole opposed to the U-phase coil 73 and its N-pole opposed to the V-phase coil 74 and stops. is in a state of The rotor 72 in FIG. 6B is stopped with its S pole facing the U-phase coil 73 and its N pole facing the W-phase coil 75 . The rotor 72 in FIG. 6C is in a state where its south pole faces the V-phase coil 74 and its north pole faces the W-phase coil 75 and stops. The rotor 72 in FIG. 7A is stopped with its S pole facing the V-phase coil 74 and its N pole facing the U-phase coil 73 . The rotor 72 in FIG. 7B is in a state where its S pole faces the W-phase coil 75 and its N pole faces the U-phase coil 73 and stops. The rotor 72 in FIG. 7(C) is stopped with its south pole facing the W-phase coil 75 and its north pole facing the V-phase coil 74 .

For example, in FIG. 6A, the maximum value of the coil current for the pattern "UV" is greater than the maximum value of the coil current for the other patterns. This is because in the state of FIG. 4, when the coil current of the pattern "UV" is passed, the combined impedance of the U-phase coil 73 and the V-phase coil 74 becomes the smallest. Therefore, when the result of FIG. 6A is obtained, the motor control unit 14 sets the rotor 72 to the state shown in FIG. It can be determined that it is stopped facing the V-phase coil 74 . Then, the motor control unit 14 controls the coil current according to the determined stop position of the rotor 72 to start the motor 15F.

Next, the reason why the motor control unit 14 determines the motor type will be described. The motor control unit 14 generally controls the rotation speed and coil current of the motor 15F by PI control. During PI control, the motor control unit 14 sets the characteristics of the motor 15F, that is, the optimum gain for the type of motor, as a control parameter. If the set control parameters are not appropriate, the rotation speed of the motor 15F may be uneven. If the rotation speed of the motor 15F is uneven, the image formed by the image forming apparatus 10 may be defective. Therefore, the motor control unit 14 needs to determine the motor type and set control parameters suitable for the determined motor type.

A motor type determination method will be described below by taking as an example a case where there is a possibility that two motors of type A and type B are used as the motor 15F of the image forming apparatus 10. FIG. Type A and type B differ in motor characteristic values such as inductance and resistance. It should be noted that the present invention is also applicable where more than two types of motors may be used.

First, as shown in FIGS. 6 and 7, the maximum value of each pattern of the coil current differs according to the stop position of the rotor 72 . However, the result of rearranging the maximum values of the six patterns of coil current obtained at a certain stop position of the rotor 72 in descending order or ascending order is substantially the same regardless of the stop position of the rotor 72 . Therefore, in the present embodiment, six patterns of maximum values of coil currents arranged in descending order for each type of motor that can be used in the image forming apparatus 10 are used as templates for each type. FIG. 8 shows examples of type A and type B templates. The template of type A is reference information for determining whether or not it is a type A motor. Similarly, the template of type B is reference information for determining whether the motor is of type B or not. Each type of template has six reference values arranged in descending order.

A type A template can be generated, for example, as follows. First, the rotor 72 of the motor of type A is stopped at one of the six stop positions, and the coil current of each pattern is supplied to measure the maximum value. Then, sort the maximum value of each pattern in descending order. The above processing is performed for each of the six motors of type A at each of the six stop positions. Then, a type A template can be generated by calculating the average value of the measured values of the same order. Also, the type A template can be generated by calculation based on the characteristics of the type A motor. The same applies to the type B as well.

As described above, the motor control unit 14 causes six patterns of coil current to flow and measures the maximum value as a measurement value in order to determine the stop position of the rotor 72 before starting the motor 15F. That is, the motor controller 14 measures six measurements. The motor control unit 14 rearranges the six measured values in the same descending order as the template to obtain measurement information. The motor control unit 14 obtains the error between the measurement information and the template. In this embodiment, the error between the measurement information and the template is defined as the sum of the squares of the difference between the reference value of the template and the measurement value of the same order as the reference value among the six measurement values of the measurement information. be. FIG. 9 is an explanatory diagram of a method of calculating the error of the measurement information for the template of type A shown in FIG.

As shown in FIG. 9, the motor control unit 14 obtains the difference between the k-th (k is an integer from 1 to 6) reference value of the template and the _k -th measurement value of the measurement information as ΔEk. Then, the motor control unit 14 obtains the error ΔE of the measurement information for the type A template as ΔE=Σ(E _k ² ). Note that Σ indicates the integration from k=1 to 6. The motor control unit 14 obtains the error ΔE with each template, and determines that the motor 15F is of the type corresponding to the template with the smallest error ΔE. As described above, by using the error ΔE as the squared error, the error is calculated to be large, and the error ΔE of each template can be easily compared. However, the accumulated value of the absolute values of the difference between the measured value of the measurement information and the reference value of the rank corresponding to the template can also be used as the error ΔE. In other words, the error ΔE can also be defined as ΔE=Σ|E _k |. Note that other values that can evaluate the degree of divergence between the measurement information and the reference information can also be used as the error.

FIG. 10 is a flowchart of motor type determination processing according to the present embodiment. The motor control unit 14 executes the process of FIG. 10 before starting the motor 15F. In S10, in order to determine the stop position of the rotor 72, the motor control unit 14 causes the coil current of each pattern to flow, measures the maximum value as a measurement value, and thereby acquires measurement information. The motor control unit 14 determines the stop position of the rotor 72 based on the measured values of each pattern. In S11, the motor control unit 14 rearranges the multiple measured values of the measurement information in descending order. At S12, the motor control unit 14 obtains the error ΔE for each type of template as described above. In S13, the motor control unit 14 determines the type of the motor 15F by comparing the error ΔE for each type of template. More specifically, the motor control unit 14 determines that the type of the motor 15F is the template type with the smallest error ΔE. In S14, the motor control unit 14 sets control parameters suitable for the determined type. Note that the relationship between the types and the control parameters is stored in the nonvolatile memory 55 in advance. After that, the motor control unit 14 starts rotation control of the motor 15F.

As described above, in the present embodiment, the motor type can be determined before starting the motor 15F. Further, the determination of the motor type is performed using the measured value measured by the motor control unit 14 to determine the stop position of the rotor 72 . In this way, no additional measurement is required to determine the type of motor, so the time to start the motor is not lengthened. Further, the information set in advance in the nonvolatile memory 55 for one motor type is only one template, and the amount of data required for judging the motor type is small. Furthermore, since the motor type can be determined only by a simple comparison process between the template and the measurement information, the scale of the program executed by the microcomputer 51 can be reduced and the execution time can be shortened. Therefore, it is possible to prevent the motor from being started for a long time.

<Second embodiment>
Next, the second embodiment will be described, focusing on differences from the first embodiment. FIG. 11 is a flowchart of motor type determination processing according to the present embodiment. It should be noted that processing steps similar to those in the flow chart of the first embodiment shown in FIG. 10 are assigned the same step numbers, and description thereof will be omitted.

In this embodiment, the non-volatile memory 55 stores in advance a threshold value for determining coil current abnormality. For example, when external noise is superimposed on the coil of the motor 15F or the like, an unexpected current may flow. Also, circuit failures can cause excessive coil currents to flow. A threshold value is determined to detect such a coil current abnormality.

After determining the error ΔE for each type of template in S12, the motor control unit 14 determines whether or not the minimum value of the error ΔE is greater than a threshold value in S20. If the minimum value of the error ΔE is not greater than the threshold, the motor control unit 14 determines the motor type in S13, as in the first embodiment.

On the other hand, when the minimum value of the error ΔE is larger than the threshold, the motor control section 14 determines that the coil current is abnormal. If the coil current is abnormal, the motor control unit 14 cannot correctly determine the coil type, so it repeats the process from S10 and acquires the measurement information again. If the minimum value of the error ΔE is greater than the threshold value in S20 even after repeating the operation a predetermined number of times, it is determined that a stationary abnormality rather than a transient abnormality has occurred. end the processing of In this case, the motor control unit 14 displays that an abnormality has occurred. It should be noted that if S20 is Yes, the process of FIG. 11 may be terminated immediately to indicate that an abnormality has occurred.

According to this embodiment, it is possible to improve the reliability of the motor type determination because the abnormality of the coil current is determined. Therefore, setting of inappropriate control parameters can be suppressed.

In each of the above-described embodiments, the maximum value obtained when a coil current that increases and decreases sinusoidally in a predetermined period is used as the measured value, and the stop position of the rotor 72 and the type of motor are determined based on the measured value. This is because the maximum value of the coil current differs according to the impedance of the coil. However, the invention is not limited to measuring the maximum value of the coil current, but can be configured to measure any other physical quantity that can determine the inductance or impedance of the motor. For example, impedance changes the rising speed of the coil current. Therefore, the value of the coil current after a predetermined period of time from when the coil current started to flow can be used as the measured value. Also, the integrated value of the coil current for a predetermined period in which the coil current is passed can be used as the measured value.

In each of the above-described embodiments, the type of motor is determined, but what the motor control unit 14 does is to set control parameters suitable for the motor to be controlled. In other words, the configuration may be such that the control parameters corresponding to the template with the least error are set without the motor control unit 14 recognizing the motor type. In this case, the “type template” in each of the above embodiments becomes the “control parameter template”. Further, the reference values of the template are arranged in descending order, and therefore the plurality of measured values of the measurement information are also arranged in descending order, but the arrangement may be such that they are arranged in ascending order.

Furthermore, in each of the above-described embodiments, the motor control unit 14 is used as one component of the image forming apparatus 10, but the motor control unit 14 can also be used as a motor control device. A device including the printer control section 11 and the motor control section 14 can also be used as the motor control device. Further, in the above embodiment, the motor 15F is a motor for driving the fixing section 24. As shown in FIG. However, the present invention can also be applied to arbitrary motors for driving the rotating members of the image forming apparatus 10, for example, motors for driving rollers for conveying sheets and motors for driving members of the image forming section 1. can. Also, the configuration of the motor 15F is not limited to the configuration shown in FIG. 4, and may be a motor with other numbers of poles and phases.

[Other embodiments]
The present invention supplies a program that implements one or more functions of the above-described embodiments to a system or apparatus via a network or a storage medium, and one or more processors in the computer of the system or apparatus reads and executes the program. It can also be realized by processing to It can also be implemented by a circuit (for example, ASIC) that implements one or more functions.

The invention is not limited to the embodiments described above, and various modifications and variations are possible without departing from the spirit and scope of the invention. Accordingly, the claims are appended to make public the scope of the invention.

51: microcomputer, 61: gate driver, 60: inverter, 63: resistor, 53: AD converter, 55: non-volatile memory

Claims (15)

a voltage applying means for applying a voltage to the plurality of coils of a motor having a plurality of coils and causing a coil current to flow through the plurality of coils;
measuring means for measuring the current value of the coil current;
A measurement including a plurality of measured values by controlling the voltage applying means to apply a coil current in each of a plurality of patterns to the plurality of coils, and causing the measuring means to measure the current value of the coil current of each pattern. a control means for obtaining information;
holding means for holding a plurality of pieces of reference information corresponding to each of a plurality of motor types, wherein the reference information corresponding to the motor type indicates a plurality of reference values;
with
The motor control device, wherein the control means determines a motor type of the motor by comparing the measurement information with each of the plurality of reference information. a voltage applying means for applying a voltage to the plurality of coils of a motor having a plurality of coils and causing a coil current to flow through the plurality of coils;
measuring means for measuring the current value of the coil current;
A measurement including a plurality of measured values by controlling the voltage applying means to apply a coil current in each of a plurality of patterns to the plurality of coils, and causing the measuring means to measure the current value of the coil current of each pattern. a control means for obtaining information;
a plurality of pieces of reference information corresponding to each of a plurality of control parameters, wherein the reference information corresponding to the control parameters indicates a plurality of reference values of the coil currents of the plurality of patterns; holding means for holding the plurality of pieces of reference information; When,
with
The motor control device, wherein the control means determines a control parameter to be set when driving the motor by comparing the measurement information with each of the plurality of reference information. The control means obtains an error between the measurement information and each of the plurality of reference information, and determines that the motor type of the motor is a motor type corresponding to the reference information with the smallest error from the measurement information. The motor control device according to claim 1, characterized by: The control means obtains an error between the measurement information and each of the plurality of reference information, and sets a control parameter to be set when driving the motor as a control parameter corresponding to the reference information having the minimum error from the measurement information. 3. The motor control device according to claim 2, wherein the determination is made as follows. The control means determines a corresponding reference value from the plurality of reference values of the reference information for each of the plurality of measurement values of the measurement information, and for each of the plurality of measurement values of the measurement information, A difference between the reference information and a corresponding reference value is obtained, and an error between the measurement information and the reference information is obtained based on the difference obtained for each of the plurality of measured values of the measurement information. 5. The motor control device according to 3 or 4. The control means determines the order of magnitude among the plurality of measured values for each of the plurality of measured values of the measurement information, and ranks each of the plurality of reference values of the reference information according to the plurality of reference values. 6. The method according to claim 5, wherein the order of magnitude among the values is determined, and the reference value having the same order as the order of the measured value is determined to be the reference value corresponding to the measured value. motor controller. 7. The method according to claim 5 or 6, wherein said control means uses an integrated value of squares of differences obtained for each of said plurality of measured values of said measurement information as an error between said measurement information and said reference information. A motor controller as described. 7. The method according to claim 5 or 6, wherein said control means uses an integrated value of absolute values of differences obtained for each of said plurality of measured values of said measurement information as an error between said measurement information and said reference information. A motor controller as described. 9. The control means reacquires the measurement information when the minimum value of the error calculated for each of the measurement information and the plurality of reference information is greater than a threshold value. The motor control device according to . 10. Any one of claims 1 to 9, wherein the plurality of patterns are specified by two coils, among the plurality of coils, through which coil currents flow, and the direction of the coil currents flowing through the two coils. A motor controller according to any one of the preceding claims. 2. The controller determines the maximum value or integrated value of the coil current when the coil current is applied for a predetermined period in each of the plurality of patterns as the plurality of measured values. 11. The motor control device according to any one of 10 to 10. 11. The control device according to any one of claims 1 to 10, wherein the speed of change of the coil current when the coil current is applied in each of the plurality of patterns is used as the plurality of measured values. 1. A motor control device according to claim 1. 13. The motor control apparatus according to any one of claims 1 to 12, wherein the control means further determines the stop position of the rotor of the motor based on the plurality of measured values. a rotating member for transporting the sheet along the transport path;
image forming means for forming an image on the sheet conveyed on the conveying path;
a motor that drives the rotating member or the image forming means;
a motor control means for controlling the motor;
An image forming apparatus comprising
The motor control means
voltage applying means for applying a voltage to the plurality of coils of the motor having a plurality of coils and causing a coil current to flow through the plurality of coils;
measuring means for measuring the current value of the coil current;
A measurement including a plurality of measured values by controlling the voltage applying means to apply a coil current in each of a plurality of patterns to the plurality of coils, and causing the measuring means to measure the current value of the coil current of each pattern. a control means for obtaining information;
holding means for holding a plurality of pieces of reference information corresponding to each of a plurality of motor types, wherein the reference information corresponding to the motor type indicates a plurality of reference values;
with
The image forming apparatus, wherein the control unit determines a motor type of the motor by comparing the measurement information with each of the plurality of reference information. a rotating member for transporting the sheet along the transport path;
image forming means for forming an image on the sheet conveyed on the conveying path;
a motor that drives the rotating member or the image forming means;
a motor control means for controlling the motor;
An image forming apparatus comprising
The motor control means
voltage applying means for applying a voltage to the plurality of coils of the motor having a plurality of coils and causing a coil current to flow through the plurality of coils;
measuring means for measuring the current value of the coil current;
A measurement including a plurality of measured values by controlling the voltage applying means to apply a coil current in each of a plurality of patterns to the plurality of coils, and causing the measuring means to measure the current value of the coil current of each pattern. a control means for obtaining information;
a plurality of pieces of reference information corresponding to each of a plurality of control parameters, wherein the reference information corresponding to the control parameters indicates a plurality of reference values of the coil currents of the plurality of patterns; holding means for holding the plurality of pieces of reference information; When,
with
The image forming apparatus, wherein the control unit determines a control parameter to be set when driving the motor by comparing the measurement information with each of the plurality of reference information.

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