JP3093297U - Inkjet printer - Google Patents

Abstract

(57) Abstract: Provided is an ink jet printer capable of maintaining a moving speed of a carrier at a stabilized speed without vibrating and reducing stress applied to components for moving the carrier. A command speed D is set based on an acceleration that changes such that an initial value continuously increases from 0 and continuously decreases to 0 within a time Tx required to reach a stabilized speed Vk. It changes until it reaches the stabilization speed Vk, and when it reaches the stabilization speed Vk, it is set to maintain the stabilization speed Vk. Then, the drive voltage of the carrier motor is determined by the feedback control so that the set command speed D and the carrier movement speed E calculated from the output of the encoder match, and the determined drive voltage is output to the carrier motor. , And drive the carrier motor.

Description

[Detailed description of the device]

[0001]

[Technical field to which the device belongs]

  The present invention is designed to control the moving speed of a carrier carrying an ink cartridge. It is related to a jet printer.

[0002]

[Prior art]

  The inkjet printer drives the carrier motor to move the carrier, For ejecting ink from the print head of the ink cartridge mounted on the carrier Print on paper. At that time, the carrier is moved from the stopped state and the carrier is moved. When the movement speed accelerates and reaches the stabilization speed, the movement speed is maintained at this stabilization speed. To be controlled. Here, the stabilizing speed means that the moving speed of the carrier is stable. It is a constant speed when printing is ready. JP-A-7-32938 In the publication No. 8, a preset value is set in order to control the moving speed of the carrier as described above. How to change the drive frequency of the carrier motor based on the drive table Although described, the commonly used one is the PID control method. This is a method of controlling the moving speed of the carrier by the feedback control. this is, Feedback is performed by using the moving speed of the actual carrier as the response speed and Compared with the command speed set for this purpose, the deviation of proportional control, integral control and derivative control The drive voltage for driving the carrier motor is determined by three controls, and the determined drive voltage is determined. Input the dynamic voltage to the carrier motor to match the carrier moving speed to the command speed. It is a method of controlling like this. According to this control method, the carrier moving speed can be accurately determined. You have good control.

[0003]   FIG. 8 shows a general carrier speed and acceleration when the above PID control method is applied. It is a figure which shows the time change of the degree. In FIG. 8A, the solid line D indicates the command speed. , E shown by a dotted line is an actual carrier moving speed, Vk is a stabilizing speed, and Tx is a command speed. This is the time required for the degree D to reach the stabilization speed Vk. The command speed D is shown in FIG. Due to the constant acceleration a41 shown in (b), the constant acceleration linear motion changes from time 0. When the stabilized speed Vk is reached at time Tx, the speed Vk is maintained thereafter. To have. The moving speed of the carrier is controlled by the command speed D changing in this way. And, the actual moving speed E of the carrier changes from time T41 by linear motion of uniform acceleration. Then, at time T42, the stabilization speed Vk is reached. Then, the stabilization speed Vk is reached. When it reaches, the acceleration suddenly becomes 0, so it cannot follow the command speed D and vibrates greatly. During the period T43, the vibration converges, and thereafter, it stabilizes at the stabilizing speed Vk. Note that the time T41 when the carrier moving speed E rises is delayed from the command speed D. Is due to the control delay peculiar to automatic control. This control delay is caused by, for example, JP-A-200 It can be shortened by the method described in Japanese Patent Application Laid-Open No. 0-71541.

[0004]   FIG. 9 shows the carrier velocity described in Japanese Patent Laid-Open No. 2001-63168. It is a figure which shows the time change of acceleration. In this publication, the command speed D is shown in FIG. As shown, the initial velocity Vs is changed to the stabilizing velocity Vk according to a cubic function. . As shown in FIG. 9B, this has an initial value of a51 and changes according to a quadratic function. It is realized by acceleration. The command speed D that changes in this way causes the carrier When the moving speed is controlled, the actual moving speed E of the carrier is calculated from the time T51 to the third-order function. It changes according to the number and slowly reaches the stabilizing speed Vk at time T52, and after reaching the stabilizing speed Vk, It becomes stable at the stabilization speed Vk.

[0005]

[Problems to be solved by the device]

  However, if the moving speed E of the carrier changes as shown in FIG. While the speed E is vibrating, ink cannot be dropped from the print head onto the paper at regular intervals, Since the print quality will deteriorate, move the carrier in order to maintain the print quality. After the speed E reaches the stabilizing speed Vk, printing is performed until the vibration of the moving speed E stabilizes. A stabilization period Te is provided to prevent the start of the Need to start printing from the paper to the paper. However, such a stabilization period Te If you set, the distance that the carrier moves before starting printing increases. The printable area that can be printed on paper becomes smaller. The problem arises that the width of the printer must be increased.

[0006]   In addition, the moving speed E of the carrier sharply increases from time T41 by linear motion with uniform acceleration. In order to let it go, the carrier in the stopped state must be suddenly moved with the acceleration a41. Since it does not occur, it is not necessary to install a large size on each part such as the pulley and belt for moving the carrier. Stress is applied and each component is easily worn. In this way each part Problem that the carrier cannot be moved smoothly when the Occurs.

[0007]   In addition, as in Japanese Patent Laid-Open No. 2001-63168 (as shown in FIG. 9A), When the rear moving speed E changes, the carrier moving speed E changes at the initial speed Vs. In order to follow the command speed D to go and increase from time T51, Since the carrier has to be suddenly moved at an acceleration of initial value a51, As with the change in the moving speed E of the Therefore, each component is easily worn out. And when each component wears out However, there is a problem that the carrier cannot be moved smoothly.

[0008]   The present invention is intended to solve the above-mentioned problems and to solve the problems. The reason is that the carrier moving speed is maintained at a stabilizing speed without vibrating. In addition, it is possible to reduce the stress on the parts for moving the carrier. An object is to provide an inkjet printer.

[0009]

[Means for Solving the Problems]

  The inkjet printer according to the present invention is a carrier model for moving a carrier. Data, a speed detecting means for detecting the moving speed of the carrier, and a preset command speed And the moving speed of the carrier detected by the speed detecting means. Feed-bag control is used to match the commanded speed stored in the memory. And a determining means for determining a drive voltage for driving the carrier motor. And a driving means for driving the carrier motor by outputting the determined driving voltage. ing. Then, the commanded speed stored in the storage means is set by the time the stabilized speed is reached. Within the required time, the initial value should rise continuously from 0 and then drop to 0 continuously. Based on the acceleration that changes to, it changes until reaching the stabilizing speed, When it reaches, the stabilization speed is set to be maintained. Here, "Stabilize The "speed" is the speed when the carrier movement speed is stable and printing is possible. It is a constant speed.

[0010]   By setting the command speed in this way, the command speed can be relaxed from 0 at the initial speed. Climb to reach the stabilization speed slowly, and after reaching it, maintain the stabilization speed Changes in the inkjet printer with the above configuration. If the carrier moving speed is controlled by the command speed, Gently raises to reach the stabilization speed gently, without vibrating It is possible to maintain the speed. As a result, the stabilization period Te shown in FIG. Immediately after the carrier movement speed reaches the stabilization speed without providing the print quality Since it is possible to print while maintaining the Increase the width of the inkjet printer to expand the printable area without narrowing it. It also eliminates the need for shaving. In addition, the initial value is 0 The carrier in the stopped state is moved, and the moving speed of the carrier is slowly increased. The pulleys, belts and other parts for moving the carrier. It is possible to reduce the amount of stress. And this makes each part less likely to wear out. , The carrier can be moved smoothly over a long period of time.

[0011]   Also, in the present invention, the command speed is stabilized based on any of the accelerations described below. It changes until the stabilization speed is reached, and when the stabilization speed is reached, the stabilization speed is maintained. It may be set so that. (1) The initial value changes from 0 to a linear function within the time required to reach the stabilization speed. Therefore, the acceleration that increases and then decreases to 0 according to a linear function. (2) The initial value changes from 0 to a linear function within the time required to reach the stabilization speed. Therefore, after rising, it maintains a constant value for a predetermined time and then decreases to 0 according to a linear function. Acceleration that changes like. (3) The initial value changes from 0 to a quadratic function within the time required to reach the stabilization speed. Therefore, the acceleration that increases and then decreases to 0 according to a quadratic function.

[0012]   By setting the command speed in this way, the command speed can be relaxed from 0 at the initial speed. Climb to reach the stabilization speed slowly, and after reaching it, maintain the stabilization speed The speed of movement of the carrier is controlled by the command speed that changes in this way. Control, the moving speed of the carrier is gradually increased to reach the stabilization speed. It is possible to reach and maintain a constant speed without vibrating. Also, The carrier in a stopped state is moved by the acceleration that the initial value continuously rises from 0. And move the carrier slowly as the moving speed of the carrier gradually increases. It is possible to reduce the stress on each component such as pulleys and belts for It

[0013]   Further, the determining means in the present invention is typically a PI control type feedback controller. The drive voltage for driving the carrier motor is determined by the control.

[0014]   By doing this, the key control is performed by the two controls of the proportional control (P) and the integral (I) control. To drive the carrier motor so that the carrier movement speed matches the command speed Since the drive voltage of is determined, the proportional (P) control and the integral (I) control as in the conventional method are used. Of the PID control method that determines the drive voltage by the three controls of the minute (D) control Since the differential control is not performed, the calculation for performing the control becomes easier than the bag control. The drive voltage can be easily determined. In addition, the differential control that is conventionally performed is sudden. This is effective control for the influence of disturbances such as severe vibrations and shocks. When printing, it is not possible for such disturbance to suddenly change the movement speed. Since there is almost no, the moving speed of the carrier matches the command speed even if differential control is not performed. To accurately determine the drive voltage for driving the carrier motor. You can

[0015]   Further, the driving means in the present invention is typically a PWM control pulse voltage control. Output to drive the carrier motor. By doing this, the drive voltage Since the carrier motor can be driven with high accuracy, the carrier transfer The dynamic speed can be easily changed minutely.

[0016]   Further, in the present invention, typically, the carrier motor is composed of a DC motor, The speed detection means is based on the encoder installed on the carrier and the output from the encoder. Then, the speed calculation means calculates the moving speed of the carrier.

[0017]

[Embodiment of device]

  FIG. 1 is a block diagram of an inkjet printer according to an embodiment of the present invention. FIG. 3 is a schematic configuration diagram of a printing mechanism that is used. In FIG. 1, 1 is an inkjet pudding (Hereinafter simply referred to as printer), 2 is an ink cartridge filled with ink No. 3 is provided on the lower surface of the ink cartridge 2 through an ink ejection port (not shown). Print head 4 for ejecting ink is a carrier for mounting the ink cartridge 2. It 5 is a DC motor for moving the carrier 4 in the F direction and the R direction. Carrier motors 6 and 7 are rotated by driving the carrier motor 5. A pulley, 8 is a belt installed between the pulley 6 and the pulley 7, and 9 is a carrier. The guide rod 10 that serves as a guide when the 4 moves in the F and R directions is a guide. A pair of left and right support plates that support the rod 9. When the carrier motor 5 is driven , The pulleys 6 and 7 are rotated, the belt 8 is rotated, and the carrier 4 is guided. It is possible to move in the F direction and the R direction along the pad 9. Carrier 4 prints on paper S When carrying out, from the state of stopping at the stop position P1 by the carrier motor 5 in the F direction The carrier 4 is moved to, and the moving speed of the carrier 4 is accelerated to the stabilizing speed, When the speed stabilizes, ink is ejected from the print head 3 of the mounted ink cartridge 2. The sheet S is discharged to print on the sheet S. When the printing of the first line is completed, the carrier 4 Stops at the stop position P2 as indicated by the broken line. After this, when performing one-way printing , The carrier 4 is moved in the R direction by the carrier motor 5 to the stop position P1. After returning and stopping, the carrier 4 is moved again from this position P1 in the F direction. When the speed stabilizes at the stabilized speed, the next line is printed on the paper S. On the other hand, bidirectional mark When printing is performed, after the carrier 4 is moved from the stop position P2 in the R direction, When the moving speed of the carrier 4 becomes stable at the stabilizing speed, the next line is printed on the paper S.

[0018]   11 is an optical encoder installed on the carrier 4, 12 is a band-shaped encoder -It's a slit. The encoder 11 moves with the carrier 4 and -The pulse corresponding to the slit formed in the slit 12 is output. 13 is A roller that conveys the paper S in the conveyance direction (a direction perpendicular to the paper surface in FIG. 1), and 14 is a print Reference surface when ink is ejected from the ink ejection port of the head 3 to print on the paper S It is a platen. Reference numeral 15 is a maintenance for maintenance of the print head 3. It is a nonce mechanism. 15a indicates that the ink does not dry the ink ejection port of the print head 3. Cap 15b is made of sponge or the like for receiving the ink to be preliminarily ejected. The ink receiver 15c is a wiper for cleaning the lower surface of the print head 3 by sliding contact with it. It's Pa.

[0019]   FIG. 2 is an electrical block diagram showing the electrical configuration of the printer 1. In Figure 2 Reference numeral 16 denotes a control unit that controls the operation of each unit of the printer 1 and includes a CPU. Be done. Reference numeral 16a denotes a PI control unit provided in the control unit 16, which is a PI control system fee. It is composed of a circuit for performing feedback control. The control unit 16 is the PI control unit 16a. Determines the drive voltage for driving the carrier motor 5 as will be described later. It Reference numeral 17 denotes a storage unit that stores a preset command speed as described later, It is composed of memories such as ROM and RAM. 18 is the ink ejection of the print head 3 A printing unit that prints on the paper S by ejecting ink from the mouth. 19 is a roller 13 A feed motor for rotating the paper to convey the paper S, such as a DC motor or a spin motor. It is composed of a stepping motor and the like. 20 is a drive for driving the feed motor 19. It is a motor driver.

[0020]   Reference numeral 21 denotes an ASIC (Application Specific Integrated Circuit) WM (Pulse Width Modulation) ON / OFF timing of pulse for modulation (data A PWM control unit 21a for controlling the duty is provided. 5 is the aforementioned cap Rear motor, 22 is a carrier for outputting a voltage for driving the carrier motor 5. It is an motor driver. The ASIC 21 controls the control unit 1 by the PWM control unit 21a. Set the ON / OFF timing of the pulse according to the drive voltage determined in 6 Carry from the carrier motor driver 22 according to the set ON / OFF timing. The voltage output to the motor 5 is controlled. That is, the drive determined by the control unit 16 The voltage is output from the carrier motor driver 22 to the carrier motor 5 and The data 5 is driven. Reference numeral 11 is the encoder described above. From this encoder 11 The ASIC 21 calculates the moving speed of the carrier 4 based on the output pulse. Well The position of the carrier 4 is also calculated.

[0021]   Reference numeral 23 is an operation unit including a power switch and an indicator lamp, and 24 is a PC (Personal C interface for communicating with the host device 30 composed of , 25 are cables for connecting the printer 1 and the host device 30.

[0022]   In the above configuration, the ASIC 21 constitutes the speed calculation means in the present invention. Also, together with the encoder 11, it constitutes the speed detecting means in the present invention. Memory The part 17 constitutes the storage means in the present invention. The control unit 16 is the PI control unit 16a. Together with this, it constitutes the determining means in the present invention. ASIC21 is a carrier Together with the motor driver 22 and the PWM controller 21a, the driving means in the present invention Constitute.

[0023]   FIG. 3 shows a PI control method for the moving speed of the carrier 4 performed by the printer 1 having the above-described configuration. It is a figure explaining the feedback control by a formula. In FIG. 3, the control unit 16 , The key calculated by the ASIC 21 based on the output from the encoder 11 as described above. The moving speed E of the carrier 4 is fed back as a response speed and is referred to as this moving speed E. The deviation e from the command speed D stored in the storage unit 17 is calculated. And calculated From the deviation e so that this deviation e approaches 0, that is, the moving speed E of the carrier 4 Of the proportional control and the integral control by the PI control unit 16a so that The drive voltage for driving the carrier motor 5 is determined by two controls. Drive power When the pressure is determined by the control unit 16, the ASIC 21 is controlled by the PWM control unit 21a. The voltage output from the carrier motor driver 22 to the carrier motor 5 as described above. By controlling the pulse with PWM control, the drive voltage determined is It is output from the carrier motor driver 22 to the carrier motor 5. This allows you to The carrier motor 5 is driven by this drive voltage to move the carrier 4, The moving speed E changes. Then, the moving speed E of the changing carrier 4 is set to A The SIC 21 calculates by the pulse from the encoder 11, and the controller 16 again operates the key. The moving speed E of the carrier 4 is fed back to calculate the deviation e from the command speed D, Drive for driving the carrier motor 5 so that the moving speed E matches the command speed D Determine the voltage. After that, the same procedure is repeated. Carrier 4 like this By controlling the moving speed E of, the moving speed E approaches the command speed D.

[0024]   According to the above PI control type feedback control, proportional control and integral control are performed. So that the moving speed E of the carrier 4 matches the command speed D by the two controls. Since the drive voltage for driving the carrier motor 5 is determined, Example PID control that determines the drive voltage by three controls: integral control and differential control Computation for performing differential control rather than control feedback control And the drive voltage can be easily determined. It is also done conventionally Differential control is effective control against the effects of disturbances such as sudden vibrations and shocks. The carrier 4 suddenly changes its moving speed E due to such a disturbance when printing. Since there is almost no such thing as a change, the movement of the carrier 4 can be performed without performing differential control. Drive for driving the carrier motor 5 so that the speed E matches the command speed D The voltage can be accurately determined. In addition, the PWM-controlled When the drive voltage is output by the drive, the drive voltage is output accurately and the carrier motor 5 can be driven, the moving speed E of the carrier 4 can be easily and minutely changed. Can be made.

[0025]   FIG. 4 is a diagram showing temporal changes in acceleration and velocity of the carrier 4 in the printer 1. 4A is for setting the command speed D stored in the storage unit 17. Changes in acceleration, FIG. 4 (b) shows changes in command speed D (solid line) and actual carrier 4 The change (dotted line) of the moving speed E is shown. In addition, in FIG. 4B, Vk is low. The normalized speed, Tx, is the time required for the command speed D to reach the stabilized speed Vk. It In FIG. 4A, the acceleration is a linear function between time 0 and time T12. After the initial value rises from 0 to the value a11 in accordance with In the meantime, the value a11 decreases to 0 according to a linear function. Acceleration that changes in this way When the command speed D is set on the basis of, the command speed D is as shown in FIG. Initially, the initial velocity gradually increases from 0 according to a quadratic function, and becomes a quadratic function at time Tx. Therefore, the stabilizing speed Vk is slowly reached, and after reaching, the stabilizing speed Vk is maintained. . That is, after the command speed D changes to the stabilizing speed Vk so as to draw an S-shaped curve, The stabilizing speed Vk is maintained. Then, the command speed D that changes in this way is used to When the moving speed E of the carrier 4 is controlled, the moving speed E of the carrier 4 is the time T11. The initial velocity gradually rises from 0 according to a quadratic function, and at time T13 it follows a quadratic function. Slowly reaches the stabilization speed Vk, and after reaching it, stabilizes at a constant level without vibration. It becomes stable at the speed Vk. That is, the moving speed E of the carrier 4 has an S-shaped curve. After changing to the stabilizing speed Vk as depicted, the stabilizing speed Vk is changed without vibration. maintain.

[0026]   FIG. 5 shows the acceleration and velocity of the carrier 4 in which the change in acceleration is different from that in FIG. It is a figure which shows the time change of the degree. In FIG. 5A, the command speed D is set. The initial value of the acceleration is 0 according to a linear function from time 0 to time T22. After increasing to the value a21, the constant value a21 is maintained from time T22 to time T23. Then, from time T23 to time Tx, the value a21 decreases to 0 according to a linear function. Down. If the command speed D is set based on the acceleration that changes in this way, As shown in FIG. 5 (b), the degree D is initially 0, and the initial velocity is gradually decreased according to a quadratic function. Change to linear acceleration after time T22 to time T23 Then, it changes according to the quadratic function again, and gradually decreases to the stabilizing speed Vk at time Tx. After reaching, the stabilization speed Vk is maintained after reaching. That is, the command speed D is an S-shaped curve After changing to the stabilizing speed Vk, the stabilizing speed Vk is maintained. That Then, the moving speed E of the carrier 4 is controlled by the command speed D thus changing. Then, the moving speed E of the carrier 4 is that the initial speed is 0 from time 0 at time T21 according to a quadratic function. After slowly rising, it changes in linear motion with uniform acceleration, and then again follows a quadratic function. Change and slowly reach the stabilizing speed Vk at time T24, and after reaching it, vibrate. Instead, it stabilizes at a constant stabilization speed Vk. In other words, the movement of carrier 4 The speed E does not vibrate after changing to the stabilizing speed Vk so as to draw an S-shaped curve. The stabilization speed Vk is maintained.

[0027]   FIG. 6 shows that the change in acceleration is different from that in FIGS. 4 (a) and 5 (a). It is a figure which shows the acceleration of 4 a and the time change of a speed. In FIG. 6 (a), the command speed The acceleration for setting the degree D follows a quadratic function from time 0 to time T32. Then, after the initial value rises from 0 to the value a31, from time T32 to time Tx The value decreases from a31 to 0 according to a quadratic function. Based on the changing acceleration like this Then, when the command speed D is set, the command speed D is initially set as shown in FIG. Shows that the initial velocity gradually rises from 0 according to a cubic function, and at time Tx it follows a cubic function. Then, the stabilizing speed Vk is slowly reached, and after reaching the stabilizing speed Vk, the stabilizing speed Vk is maintained. One Therefore, the command speed D stabilizes after changing to the stabilizing speed Vk so as to draw an S-shaped curve. The conversion speed Vk is maintained. Then, according to the command speed D that changes in this way, When the moving speed E of the carrier 4 is controlled, the moving speed E of the carrier 4 is the initial speed at time T31. The degree gradually rises from 0 according to a cubic function, and decreases at time T33 according to a cubic function. After reaching the stabilization speed Vk slowly, after reaching it, a constant stabilization speed without vibration It becomes stable at Vk. That is, the moving speed E of the carrier 4 draws an S-shaped curve After changing to the stabilization speed Vk, the stabilization speed Vk is maintained without vibration. To do.

[0028]   By setting the command speed D as shown in FIGS. 4 to 6, the command speed D is The initial speed gradually increases from 0, reaches the stabilization speed Vk slowly, and after reaching the stabilization speed Vk Since the speed Vk changes so as to maintain the standardized speed Vk, Therefore, when the moving speed E of the carrier 4 is controlled, the moving speed E of the carrier 4 is slowed down. To gradually reach the stabilizing speed Vk, and to maintain a constant speed without vibrating. It is possible to maintain the stabilization speed Vk. As a result, the stabilization shown in FIG. The moving speed E of the carrier 4 reaches the stabilizing speed Vk without providing the period Te. Immediately after printing, printing can be performed while maintaining the printing quality, so printing on paper S The printable area that can be formed is not narrowed. There is no need to increase the width. In addition, the initial value increases continuously from 0. The carrier 4 in the stopped state is moved depending on the speed, and the moving speed E of the carrier 4 is slowed down. Pulleys 6, 7 and belts for moving the carrier 4 as they are raised. It is possible to reduce the stress applied to each component such as 8. And this , Each component is less likely to wear out, and the carrier 4 can be moved smoothly over a long period of time. be able to.

[0029]   The present invention can employ various forms other than the above-described embodiment. Was For example, in the above-described embodiment, the acceleration that changes as shown in FIGS. Although the command speed D is set based on the above, in addition to these, a circular function or an elliptic function, Or an initial value from 0 to a predetermined value according to an exponential function (however, all accelerations are 0 or more) Then, the value changes from a given value to 0 according to these functions. The command speed D may be set based on the acceleration that occurs. That is, the stabilization speed Vk is reached. Within the time Tx required to reach it, the initial value continuously rises from 0 and then continuously. It may be based on the acceleration that changes so as to decrease to zero.

[0030]   Further, in the above embodiment, the carrier is controlled by the PI control type feedback control. The drive voltage for driving the motor 5 is determined, and the moving speed E of the carrier 4 is controlled. However, according to the present invention, as shown in FIG. 7A, proportional control, integral control, and derivative control are performed. The feedback control of the PID control method that performs the three types of control shown in FIG. It is also applicable to the feed back control of the P control method in which only proportional control is performed. .

[0031]

[Effect of device]   According to the present invention, the command speed is moderately increased by increasing the initial speed slowly from 0. Reach the stabilization speed, and after reaching it, change so as to maintain the stabilization speed. Slowly increase the moving speed of the to slowly reach the stabilizing speed and vibrate Can be maintained at a constant speed without In addition, the initial value is 0 continuously Since the moving speed of the carrier is gradually increased by the increasing acceleration, The stress on the parts for moving the carrier can be reduced and long-term The carrier can be moved smoothly over the period.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of an inkjet printer according to an embodiment of the present invention.

FIG. 2 is an electrical block diagram showing an electrical configuration of the printer.

FIG. 3 is a diagram illustrating feedback control of a printer PI control method.

FIG. 4 is a diagram showing changes in carrier acceleration and velocity with time.

FIG. 5 is a diagram showing temporal changes in carrier acceleration and velocity.

FIG. 6 is a diagram showing temporal changes in carrier acceleration and velocity.

FIG. 7 is a diagram showing feedback control by another control method.

FIG. 8 is a diagram showing a change over time in the velocity and acceleration of a conventional carrier.

FIG. 9 is a diagram showing changes over time in the velocity and acceleration of a conventional carrier.

[Explanation of symbols]

1 inkjet printer 2 ink cartridge 3 print head 4 carrier 5 carrier motor 11 encoder 16 control unit 16a PI control unit 17 storage unit 21 ASIC 21a PWM control unit 22 carrier motor driver D command speed E carrier moving speed S paper Tx command speed Time required to reach the stabilization speed Vk Stabilization speed

Claims (6)

[Scope of utility model registration request] 1. An ink jet printer which prints on paper by ejecting ink from a print head of an ink cartridge after a carrier carrying an ink cartridge is moved and the moving speed of the carrier reaches a stabilizing speed. A carrier motor composed of a DC motor for moving the carrier; a speed calculating means for calculating the moving speed of the carrier based on an output from an encoder installed in the carrier; a storage means for storing a preset command speed; Determining means for determining a drive voltage for driving the carrier motor by PI control type feed bag control so that the moving speed of the carrier calculated by the calculating means matches the command speed stored in the storage means. PWM the drive voltage determined by the determining means Driving means for outputting the controlled pulse to drive the carrier motor, wherein the command speed is increased from an initial value of 0 to a linear function within a time required to reach the stabilizing speed, It is set to change based on the acceleration that decreases to 0 according to a function until the stabilization speed is reached, and when the stabilization speed is reached, the stabilization speed is maintained. Inkjet printer to do. 2. An ink jet printer which prints on paper by ejecting ink from a print head of the ink cartridge after moving a carrier carrying an ink cartridge and the moving speed of the carrier reaches a stabilizing speed. A carrier motor for moving a carrier, a speed detecting means for detecting a moving speed of the carrier, a storage means for storing a preset command speed, and a moving speed of the carrier detected by the speed detecting means in the storage means. A determining unit that determines a driving voltage for driving the carrier motor by the feedback control so as to match the stored command speed, and outputs the driving voltage determined by the determining unit to output the carrier motor. A driving unit for driving, wherein the command speed is the stabilization speed. Based on the acceleration that the initial value continuously increases from 0 and then continuously decreases to 0 within the time required to reach An inkjet printer, wherein the inkjet printer is set to maintain the stabilization speed when the speed is reached. 3. The ink jet printer according to claim 2, wherein the command speed maintains a constant value for a predetermined time after an initial value increases from 0 in a linear function within a time required to reach the stabilizing speed. Then, based on the acceleration that decreases to 0 according to a linear function, the acceleration is changed until reaching the stabilizing speed, and when the stabilizing speed is reached, the stabilizing speed is maintained. Inkjet printer characterized by. 4. The ink jet printer according to claim 2, wherein the command speed increases from an initial value of 0 to a quadratic function and then to a quadratic function within a time required to reach the stabilizing speed. An inkjet printer characterized in that it is set to change until it reaches the stabilization speed based on the acceleration that changes so as to decrease, and to maintain the stabilization speed when the stabilization speed is reached. . 5. The ink jet printer according to claim 2, wherein the determining unit determines a drive voltage for driving the carrier motor by PI control type feed bag control. Characteristic inkjet printer. 6. The ink jet printer according to any one of claims 2 to 5, wherein the driving means drives the carrier motor by outputting the driving voltage with a PWM-controlled pulse. Inkjet printer.