JP2918214B2 - Carrier drive - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a carrier using a motor.
And a carrier driving device for reciprocating the carrier.

[0002]

2. Description of the Related Art This type of carrier driving apparatus is, for example, a carrier driving section of a serial printer, a CCD of a scanner, or the like.
(Charge Coupled Device) Provided in a sensor driving unit, a pen driving unit of a plotter, and the like.

[0003] For example, a carrier driving device provided in a carrier driving section of a serial printer, a carrier that can reciprocate in one direction, a carrier belt that reciprocates the carrier, penetrates the carrier, and guides the reciprocation of the carrier. A motor for driving a shaft and a carrier belt is provided.

In such a carrier driving mechanism,
When the motor is driven, it is desirable to move the carrier in accordance with the operation of the motor, but in practice, the carrier vibrates due to the elastic characteristics of the carrier belt and the sliding friction between the shaft and the carrier, and the motor is driven. Can not sufficiently follow the operation of. When the motor is a pulse motor,
The rotation of the motor itself cannot follow the given drive pulse.
The carrier may vibrate due to
Conceivable.

In order to suppress the vibration of the carrier, conventionally,
When the carrier vibrated, the carrier was moved at low speed (idle running) until the vibration was sufficiently attenuated, and then the carrier was normally driven for printing.

A motor is actually driven, and a damping pulse having a predetermined pulse period at an appropriate timing (one of the motor driving pulses, which is supplied to the motor to suppress the vibration of the carrier, in particular). To temporarily determine whether or not the carrier vibration has been suppressed, and if not suppressed, repeat the work of changing the supply timing and magnitude of the damping pulse. Vibration was suppressed.

[0007]

However, in such a conventional example, when the carrier vibrates, the motor is driven at a sufficiently low speed until the vibration is attenuated, and the carrier runs idle.
After that, since the motor is normally driven to start printing, it takes a long time for idling, and the size of the apparatus is increased by the traveling distance, so that there is a problem that the size cannot be reduced.

[0008] Such carrier vibrations are particularly noticeable when shifting from acceleration to constant speed. For this reason, even when driving is started at a low speed, vibration occurs when accelerating to a normal speed and maintaining a constant speed, so that there is a problem that printing immediately after the start of printing is disturbed.

Furthermore, since the timing for supplying the damping pulse is determined by cut and try,
There is also a problem that it is difficult to supply a damping pulse at an appropriate timing.

Accordingly, the present invention is to provide a carrier driving device capable of appropriately suppressing the vibration of the carrier, eliminating the disorder of printing immediately after the start of printing, and reducing the size of the device itself. Is what you do.

[0011]

According to the first aspect of the present invention,
In a carrier driving device that reciprocates a carrier in one direction by a motor, when the motor is driven, the motor is energized according to the elapsed time, and energization control that stores energization control information for controlling the motor from acceleration to constant speed. The information storage means and the speed displacement of the carrier are measured in advance, and based on the speed displacement of the carrier and the speed displacement of the motor when there is no load, the position deviation of the carrier and the motor is calculated. Vibration suppression signal information storage means in which the signal cycle information of the vibration suppression signal to be supplied to the obtained motor and the supply timing of the vibration suppression signal are stored in advance,
At the time of driving the motor, the energization control information is taken out from the energization control information storage means according to the elapsed time, the energization control of the motor is performed based on the energization control information, and the drive control from acceleration to constant speed is performed. When the elapsed time reaches the supply timing of the vibration suppression signal, the motor that extracts the signal cycle information from the vibration suppression signal information storage unit and controls the energization of the motor based on the signal cycle information to perform the carrier vibration suppression control. Carrier drive device provided with drive control means
It is a place. A second aspect of the present invention provides a pulse motor and
Pulse motor with carrier driven by pulse motor
By changing the pulse period between each step
In a carrier driving device that controls the acceleration and deceleration of a carrier,
To the p step calculated from the input signal to the pulse motor
From the carrier position in the actual p-step
The position deviation in the delay direction to the rear position should converge
Increase the pulse period in p steps until the value matches
It is a carrier driving device to be taken. The invention according to claim 3 is
Pulse motor and carrier driven by this pulse motor
Changes the pulse period between each step of the pulse motor
Carrier that controls acceleration / deceleration of carrier by causing
In the driving device, the pulse cycle in the p step is t
, The carrier velocity at that time is represented by v and the pulse mode
From the carrier position calculated from the input signal to the
Z is the position deviation in the delay direction up to the carrier position of
Assuming that the convergence value of the displacement oscillation is Y,
The pulse period td is td = t + (YZ) / v
It is a carrier driving device. The invention according to claim 4 is characterized in that
Tep is a step in the acceleration region of the carrier
A carrier driving device according to claim 2 or 3. Claim
In the invention described in Item 5, in the p step, the carrier is accelerated.
The step is a step for shifting from the operation to the constant speed operation.
Is a carrier driving device according to claim 3. Claim 6
The invention described in the patent claims that each pulse including the pulse period in the p-step.
The pulse period in the step is stored in the storage means in advance.
Claim 2 or Claim 3 or Claim 4 or Claim 5
It is a carrier drive device of description.

[0012]

In the present invention having such a configuration, when the motor is driven, the energization control information is taken out from the energization control information storage means in accordance with the elapsed time, and the energization control of the motor is performed based on the energization control information. Drive control from acceleration to constant speed is performed, and when the elapsed time reaches the supply timing of the vibration suppression signal, the signal cycle information is taken out from the vibration suppression signal information storage means, and the motor is controlled based on the signal cycle information. Energization control is performed.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to a serial printer will be described below with reference to the drawings.

FIG. 1 is a perspective view showing a schematic configuration of a carrier driving section of a serial printer according to the present embodiment. 1 is a print head for outputting print data to printing paper, 2 is equipped with this print head 1, A carrier provided so as to be able to reciprocate in one direction, a shaft 3 for guiding the reciprocation of the carrier 2, a carrier belt 4 to which the carrier 2 is fixed,
A carrier motor 5 drives the carrier belt to move the carrier 2.

The carrier belt 4 is wound around pulleys 4a and 4b provided at both ends thereof, and the carrier belt 4 is driven by driving one pulley 4b by a carrier motor 5. . The carrier motor 5 is constituted by, for example, a four-phase pulse motor,
Drive control is performed based on current supply control information for acceleration, deceleration, and the like, which will be described later, and a pulse period and supply timing of a damping pulse for suppressing vibration of the carrier 2.

The damping pulse is applied to the carrier motor 5
In order to determine the timing of supplying the carrier 2 and the pulse period of the damping pulse, the position displacement and velocity displacement of the carrier 2 are detected in advance.

In this case, a linear encoder sensor 6 is provided in the carrier driving section. This linear encoder sensor 6
Is composed of a linear slit 6a provided along the moving direction of the carrier 2 and an encoder sensor 6b provided on the carrier 2.

This encoder sensor 6b has the configuration shown in FIG.
The position displacement and the displacement direction are detected by the two-phase output of the A phase and the B phase as shown in FIGS. Further, the motor control unit 14 controls the A phase, the B phase,
Corresponding to the C phase and the D phase, FIG.
Drive signals as shown in (b), (c) and (d) are supplied to the carrier motor 5.

The drive signal from the motor control unit 14 is
The input terminals A, B, C, of the measurement value calculation circuit 21 shown in FIG.
D, and the detection output of the encoder sensor 6b is supplied to an input terminal ENCA and an input terminal ENCB.

The measurement value calculation circuit 21 outputs a velocity displacement of the carrier 2 from an output terminal Q1 as shown by a dotted line graph in FIG. 12 based on a detection output from the encoder sensor 6b.

The measured value calculation circuit 21 outputs a speed displacement of the carrier motor 5 when the carrier motor 5 is not loaded on the basis of a drive signal from the motor control unit 14 to an output terminal Q.
Output from 2. This velocity displacement is, for example, as shown in a solid line graph in FIG.

Further, the measured value calculation circuit 21 integrates the velocity displacements of the carrier motor 5 and the carrier 2 to obtain these positional displacements, and calculates a positional deviation from these positional displacements as shown by a solid line graph in FIG. Thus, the signal is output from the output terminal Q3.

FIG. 2 is a block diagram showing a schematic configuration of the serial printer according to the present embodiment. Reference numeral 11 denotes a CPU (central processing unit) constituting a control unit main body; and 12, a CPU 11 drives and controls the carrier motor 5. ROM (read only memory) in which program data and the like are stored in advance, 13 is a RAM (random access memory) in which various memory areas are formed for storing data to be processed by the CPU 11, 14 Is the carrier motor 5
Is a motor control unit that drives the print head 1, and 15 is a print head control unit that drives the print head 1.

The CPU 11, ROM 12, RAM 1
3. The motor control unit 14 is mutually connected via bus lines 16 such as an address bus, a data bus, and a control bus.

The CPU 11, the ROM 12, and the motor controller 14 constitute a motor drive controller.

The ROM 12 is provided with a control data table 22 as shown in FIG. The control data table 22 functions as both the energization control information storage unit and the suppression signal information storage unit. That is, in the control data table 22, the energization control information, the pulse cycle of the damping pulse, and the supply timing are set.

The energization control information is information such as acceleration and deceleration supplied from the CPU 11 to the motor control unit 14. The pulse cycle and supply timing of the damping pulse are based on the position deviation from the measured value calculation circuit 21. Is calculated.

The control data table 22 includes a time area 22a and a step rate area 22b. In the time area 22a, the drive elapsed time of the carrier motor 5 is set, and in the step rate area 22b, a drive pulse corresponding to the time set in the time area 22a is set for each step of the carrier motor 5. ing.

For example, the first step indicates that a motor drive pulse having a pulse period of 5 ms is supplied to the carrier motor 5 from 0 to 5 ms in drive time of the carrier motor 5. When the reciprocal of this pulse period of 5 ms is taken and expressed as a step rate converted to the number of pulses per second,
It is 200 PPS (pulse / sec).

In the second step, the drive period of the carrier motor 5 is from 5 to 8.14 ms, and the pulse period is 3.14.
This indicates that a motor drive pulse of (8.14-5.00) ms is supplied to the carrier motor 5. When the reciprocal of the pulse period of 3.14 ms is calculated and converted to the number of pulses per second, the step rate is 318 PPS (pu
lse / sec).

The fifteenth step indicated by the solid arrow in the drawing corresponds to a damping pulse, and the pulse period is 1.67 (27.78-26. 11) The pulse of ms is supplied to the carrier motor 5. The reciprocal of the pulse period of 1.67 ms is represented by a step rate converted into the number of pulses per second, which is 600 PPS.
(Pulse / sec).

The relationship between the pulse period and the step rate is as follows. When the time is plotted on the horizontal axis and the step rate is plotted on the vertical axis, as shown in FIG. At the set fifteenth step, the step rate is reduced.

The supply timing of such a damping pulse is determined as follows, and is set in advance in the time area 22a of the control data table 22.

First, the first damping pulse has the maximum displacement of the carrier 2 with respect to the speed displacement of the carrier motor 5 in the speed displacement of the carrier motor 5 and the carrier 2 as shown in FIG. Supply at a point late.

That is, specifically, the carrier 2 closest to the final step of the acceleration of the carrier motor 5
Is set as the damping pulse supply timing at the point E where the speed displacement (dotted line graph) and the speed displacement of the carrier motor 5 (solid line graph) coincide with each other.

The point at which the delay of the carrier 2 is the largest is set as the damping pulse supply timing for the following reason. That is, generally, if the damping pulse is supplied to the carrier motor 5 only for the time until the carrier 2 returns to the convergence position of the carrier 2, the delay of the carrier 2 is eliminated. However, if a damping pulse is supplied at a point where the delay of the carrier 2 is small, the pulse cycle of the damping pulse becomes extremely short, so that the carrier 2 may step out.

The pulse period of the first damping pulse is calculated as follows, and is converted into a step rate and set in the control data table 22 in advance.

When the carrier motor 5 is driven, the frictional force between the shaft 3 and the shaft hole of the carrier 2 acts on the carrier 2 in a direction opposite to the moving direction of the carrier belt 4, so that the carrier belt 4 is elongated. It is considered that the carrier 2 is delayed by the amount of the extension. In addition, during acceleration of the carrier motor, a force due to acceleration also occurs in the moving direction of the carrier 2.

Therefore, the pulse period of the first damping pulse is calculated based on the acceleration α of the carrier 2 during the acceleration of the carrier motor and the converging position Y of the elongation due to the friction between the shaft 3 and the carrier 2 (see FIG. 13). .

Here, assuming that the friction coefficient between the shaft 3 and the carrier 2 is μ, the mass of the carrier 2 is m, the acceleration of the carrier 2 is α, the elastic coefficient of the carrier belt 4 is k, and the gravitational acceleration is g, the convergence position. Y is represented as follows: Y = (mα + μmg) / k

First, when the time of the point E which is the optimum position as the supply timing of the damping pulse is the p-th step in the control data table 22, as shown in FIG. It is assumed that the positional deviation of the carrier 2 at the p-th step is Z.
Since the convergence position during acceleration is Y, the time required to return to this position Y is defined as a pulse cycle.

That is, assuming that the velocity of the carrier 2 at the p-th step is v, it takes (YZ) / v for the carrier 2 to return to the convergence position Y at the p-th step.
Therefore, the (Y−Z) /
The time obtained by adding v becomes the pulse period td1 of the damping pulse. That is, the pulse period td1 is expressed as td1 = t1 + (YZ) / v.

When the calculated first damping pulse is input at the above timing, the velocity displacement of the carrier 2 is as shown by a dotted line graph in FIG. 8, and the positional deviation between the carrier 2 and the carrier motor 5 is shown in FIG. As shown. As shown in FIGS. 8 and 9, when the carrier motor 5 shifts from acceleration to constant speed, the vibration of the carrier 2 is
Is suppressed.

The supply timing of the next damping pulse is determined as follows, and is set in the time area 22a of the control data table 22 in advance.

That is, the supply timing of the next damping pulse is set to the time at point F at which the carrier motor 5 shifts from acceleration to constant speed. The reason for this setting is to suppress the vibration of the carrier 2 during the constant speed of the carrier motor.

The pulse period of the next damping pulse is calculated as follows, is converted into a step rate, and is set in the control data table 22 in advance.

During the constant speed of the carrier motor, no force is generated by the acceleration of the carrier motor 5, so that the carrier belt 4
Is considered to be due to the frictional force between the shaft 3 and the carrier 2. Therefore, the pulse period of the next damping pulse is calculated based on the convergence position X and the convergence position Y of the elongation of the carrier belt 4.

Here, assuming that the friction coefficient between the shaft 3 and the carrier 2 is μ, the mass of the carrier 2 is m, the elastic coefficient of the carrier belt 4 is k, and the gravitational acceleration is g, the convergence position X
Is expressed as X = μmg / k.

Similarly to the calculation of the pulse period of the first damping pulse described above, first, when the time of the point F which is the optimum position as the supply timing of the next damping pulse is the qth step of the control data table 22, Since the convergence position during the constant speed is X and the convergence position during the acceleration is Y, the time required to return to the convergence position X is defined as the pulse period.

That is, assuming that the speed of the carrier 2 at the q-th step is w, it takes (XY) / w until the carrier 2 returns to the convergence position X at the q-th step. Therefore,
The time obtained by adding (X−Y) / w to the pulse cycle t2 at the qth step is the pulse cycle td2 of the damping pulse. That is, td2 = t2 + (XY) / w.

When the calculated next damping pulse is input at the above timing, the velocity displacement of the carrier 2 is as shown by a dotted line graph in FIG. 10, and the positional deviation between the carrier 2 and the carrier motor 5 is shown in FIG. As shown. As shown in FIGS. 10 and 11, the vibration of the carrier 2 at a constant speed of the carrier motor 5 is suppressed.

The CPU 11 counts the motor drive time based on the motor drive program in the ROM 12, and when the time reaches the time set in the control data table 22, reads the step rate corresponding to the time, and turns on the current. The carrier motor 5 is driven for each step based on the pulse.

In this embodiment having such a configuration, when the print head 2 is driven, when the time set in the control data table 22 of the ROM 12 comes, the step rate corresponding to the time is read out, and the energizing pulse is read. , The drive of the carrier motor 5 is controlled for each step.

Then, as shown in FIG. 10, for example, the carrier motor 5 accelerates up to the point F, and the carrier motor 5 becomes constant speed from the point F. At the point E during the acceleration, the first damping pulse is supplied. Thereby, the vibration of the carrier 2 after the point E is suppressed.

The next damping pulse is supplied at the point F where the carrier motor 5 shifts from acceleration to constant speed. Thereby, the vibration of the carrier 2 during the constant speed after the point F is further suppressed.

In this way, at the point E where the velocity displacement of the carrier 2 and the carrier motor 5 coincide with each other, which is closest to the final step of the acceleration of the carrier motor 5 where the delay of the carrier 2 is the largest, the elongation of the carrier belt and the carrier motor 5 so that the first damping pulse of the pulse period calculated from the convergence position Y based on the acceleration of 5 is supplied.
Since the damping pulse is set in advance in the control data table 22 of FIG. 2, the vibration of the carrier 2 during driving of the carrier motor 5, when moving from acceleration to constant speed, and during constant speed can be appropriately suppressed. As a result, the printing disturbance immediately after the start of printing can be eliminated.

At a point F where the carrier motor 5 shifts from acceleration to constant speed, a convergence position X based on the elongation of the carrier belt is obtained.
In order to set the damping pulse in the control data table 22 of the ROM 12 in advance so as to supply the damping pulse having the pulse cycle calculated from the convergence position Y,
When the carrier motor 5 is driven, the vibration of the carrier 2 at a constant speed can be further suppressed. As a result, it is possible to eliminate the disorder of printing immediately after the start of printing, as described above.

The control data table 2 in the ROM 12
Since the damping pulse is set in advance in the second step rate area 22a, it is not necessary to secure the free running distance of the carrier 2 as in the related art. Therefore, the size of the device itself can be reduced.

In the present embodiment, one control data table 22 has been described as having both the power supply control information storage means and the vibration suppression signal information storage means. However, the present invention is not necessarily limited to this. Alternatively, the energization control information storage means and the vibration suppression signal information storage means may be provided separately. In this case, the CPU 11 monitors each storage means and counts the set time.
The control data of the step rate may be extracted from the corresponding storage means, and the drive of the carrier motor 5 may be controlled based on the control data.

[0060]

As described above in detail, according to the present invention, the vibration of the carrier can be appropriately suppressed, the printing disturbance immediately after the start of printing can be eliminated, and the apparatus itself can be downsized. It is possible to provide a carrier driving device capable of performing the above.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a schematic configuration of a carrier driving unit of a serial printer according to an embodiment of the present invention.

FIG. 2 is a block diagram showing a schematic configuration of the serial printer according to the embodiment.

FIG. 3 is a measurement value calculation circuit used for calculating a pulse period of a damping pulse and the like in the embodiment.

4 is a diagram showing a detection output of an encoder sensor supplied to a measurement value calculation circuit shown in FIG. 3;

FIG. 5 is a diagram showing drive signals to each phase of a carrier motor supplied to the measurement value calculation circuit shown in FIG. 3;

FIG. 6 is a view showing a control data table set in a ROM shown in FIG. 2;

FIG. 7 is a diagram showing a relationship between a motor drive elapsed time and a step rate in the control data table shown in FIG. 6;

FIG. 8 is a diagram showing the relationship between the actual speed of the carrier when the first damping pulse is supplied and the speed and time of the carrier motor when there is no load in the embodiment.

FIG. 9 is a diagram showing the relationship between the position deviation of the carrier and the carrier motor when no load is applied and the time when the first damping pulse is supplied in the embodiment;

FIG. 10 is a diagram showing the relationship between the actual speed of the carrier when no damping pulse is supplied twice and the speed and time of the carrier motor when no load is applied in the embodiment.

FIG. 11 is a diagram showing the relationship between the position deviation of the carrier and the carrier motor when no load is applied and time when the damping pulse is supplied twice in this embodiment.

FIG. 12 is a diagram showing the relationship between the actual speed of the carrier when no damping pulse is supplied and the speed of the carrier motor when there is no load.

FIG. 13 is a diagram showing a relationship between a carrier when no damping pulse is supplied and a position deviation of the carrier motor when there is no load and time.

[Explanation of symbols]

 2 ... Carrier 4 ... Carrier belt 5 ... Carrier motor 6 ... Linear encoder sensor 6a ... Linear slit 6b ... Encoder sensor 11 ... CPU 12 ... ROM 14 ... Motor control unit 21 ... Measured value calculation circuit 22 ... Control data table 22a ... Time area 22b ... Step rate area

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-53-108238 (JP, A) JP-A-59-177601 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) B41J 19/18 B41J 19/04 B41J 19/30

Claims (6)

(57) [Claims] The carrier is reciprocated in one direction by a motor.
In the carrier driving device, when the motor is driven,
The motor is energized according to the elapsed time, energization control information storage means for storing energization control information for controlling the motor from acceleration to constant speed, and the speed displacement of the carrier is measured in advance, and Based on the speed displacement and the speed displacement of the motor when there is no load, the position deviation of the carrier and the motor is calculated, and the signal period information of the vibration suppression signal to be supplied to the motor and the vibration thereof are calculated based on the position deviation. Vibration suppression signal information storage means in which the supply timing of the suppression signal is stored in advance, and when the motor is driven, power supply control information is taken out from the power supply control information storage means according to the elapsed time, and the power supply control information When the drive control from the acceleration to the constant speed is performed by performing the energization control of the motor, and the elapsed time becomes the supply timing of the vibration suppression signal, Motor drive control means for extracting signal cycle information from the vibration suppression signal information storage means, performing power supply control of the motor based on the signal cycle information, and performing vibration suppression control of the carrier. Carrier drive device. 2. A carrier driving apparatus having a pulse motor and a carrier driven by the pulse motor, wherein the pulse motor changes the pulse cycle between each step to control the acceleration / deceleration of the carrier. The pulse cycle in the p-step is lengthened until the position deviation in the delay direction from the carrier position in the p-step calculated from the input signal to the actual carrier position in the p-step matches the value to be converged. Carrier drive device. 3. A carrier driving apparatus having a pulse motor and a carrier driven by the pulse motor and controlling the acceleration / deceleration of the carrier by changing a pulse period between each step of the pulse motor, When the period is t, the velocity of the carrier at that time is v, the position deviation in the delay direction from the carrier position calculated from the input signal to the pulse motor to the actual carrier position is Z, and the oscillation of the position deviation Is Y, the pulse period td at the p step is
A carrier driving device, wherein td = t + (YZ) / v. 4. The carrier driving device according to claim 2, wherein the p step is a step in an acceleration region of the carrier. 5. The carrier driving device according to claim 2, wherein the p step is a step when the carrier shifts from an acceleration operation to a constant speed operation. 6. The pulse cycle in each step including the pulse cycle in the p step is stored in advance in a storage unit. Carrier drive.