JP3738715B2 - Motor control device, inkjet printer, motor control method, computer program, and computer system - Google Patents

Motor control device, inkjet printer, motor control method, computer program, and computer system Download PDF

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Publication number
JP3738715B2
JP3738715B2 JP2001264659A JP2001264659A JP3738715B2 JP 3738715 B2 JP3738715 B2 JP 3738715B2 JP 2001264659 A JP2001264659 A JP 2001264659A JP 2001264659 A JP2001264659 A JP 2001264659A JP 3738715 B2 JP3738715 B2 JP 3738715B2
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Prior art keywords
value
proportional
output
motor
limit value
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JP2003079177A (en
Inventor
人志 五十嵐
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セイコーエプソン株式会社
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Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a motor control device, an inkjet printer, a motor control method, a computer program, and a computer system.
[0002]
[Prior art]
Among various printers that perform printing on a printing medium such as paper, cloth, and film, a printer that performs printing by discharging ink onto the printing medium is called an inkjet printer.
[0003]
In such an ink jet printer, a motor that drives a carriage on which a print head that discharges ink and an ink container that stores ink to be supplied to the print head is controlled by a control system to perform printing while moving the carriage. In general, printing is performed by ejecting ink from a head toward a substrate.
[0004]
Therefore, in order to perform high-quality printing on the printing medium, it is necessary to control the motor that drives the carriage with high accuracy.
[0005]
[Problems to be solved by the invention]
However, since the ink contained in the ink container mounted on the carriage is consumed every time printing is performed, the weight of the ink container decreases every time printing is performed. For this reason, the load applied to the motor for driving the carriage decreases each time printing is performed. More specifically, the load applied to the motor is the largest when a new ink container is attached to the ink jet printer, and the load applied to the motor is the smallest when the ink container is emptied after repeated printing.
[0006]
Therefore, when the control system is tuned so as to move the carriage loaded with a new ink container with high accuracy, the movement of the carriage vibrates when the ink is consumed and the amount of ink stored in the ink container decreases. There is a risk of becoming. This means that as the amount of ink contained in the ink container decreases, the carriage control accuracy decreases, and the print quality may decrease.
[0007]
As described above, the problem caused by the fluctuation of the driving load of the motor has been described by taking the motor for driving the carriage as an example. However, the driving load of the motor is also applied to the paper feed motor used in the ink jet printer and the motor used in various devices. When it fluctuates, various problems may arise.
[0008]
The present invention has been made to solve such a problem, and the object of the present invention is to control the motor with high accuracy even when the load applied to the motor fluctuates. A motor control device, an ink jet printer, a motor control method, a computer program, and a computer system.
[0009]
[Means for Solving the Problems]
In order to solve the above-mentioned problems, the present invention mainly integrates a proportional means for outputting a value corresponding to a deviation between the rotational speed of the motor and the target rotational speed, and a deviation between the rotational speed of the motor and the target rotational speed. In the motor control device that controls the motor by a control system having an integration unit that outputs a value corresponding to the integral value, a proportional output upper limit corresponding to the output value of the integration unit with respect to the output value of the proportional unit When the output value of the proportional means exceeds the proportional output upper limit value, the output value of the proportional means is set as the proportional output upper limit value.
[0010]
Other features of the present invention will become apparent from the description of the present specification and the accompanying drawings.
[0011]
DETAILED DESCRIPTION OF THE INVENTION
=== Summary of disclosure ===
At least the following will be made clear by the description of the present specification and the accompanying drawings.
[0012]
Proportional means for outputting a value corresponding to the deviation between the rotational speed of the motor and the target rotational speed, and an integrating means for integrating the deviation between the rotational speed of the motor and the target rotational speed and outputting a value corresponding to the integral value In a motor control apparatus for controlling the motor by a control system having, a proportional output upper limit value corresponding to the output value of the integrating means is provided for the output value of the proportional means, and the output value of the proportional means is the proportional output. When the upper limit value is exceeded, the output value of the proportional means is set to the proportional output upper limit value.
[0013]
According to such a motor control device, a proportional output upper limit value corresponding to the output value of the integrating means is provided for the output value of the proportional means, and the output value of the proportional means exceeds the proportional output upper limit value. Since the output value of the proportional means is the proportional output upper limit value, the motor can be controlled with high accuracy even when the load applied to the motor fluctuates.
[0014]
Further, in this motor control device, the control system includes a differentiation unit that differentiates a deviation between the rotation speed of the motor and a target rotation speed and outputs a value corresponding to the differential value, and an output value of the differentiation unit In contrast, a differential output upper limit value corresponding to the output value of the integrating means is provided, and when the output value of the differentiating means exceeds the differential output upper limit value, the output value of the differentiating means is the differential output upper limit value. A motor control device characterized by that.
[0015]
According to such a motor control device, the differential output upper limit value corresponding to the output value of the integrating means is provided for the output value of the differentiating means, and the output value of the differentiating means exceeds the differential output upper limit value. Since the output value of the differentiating means is set to the differential output upper limit value, the motor can be controlled with higher accuracy even when the load applied to the motor fluctuates.
[0016]
In the motor control device, the proportional output upper limit value is set so that the absolute value thereof is 5% to 20% of the output value of the integrating means.
[0017]
According to such a motor control device, the proportional output upper limit value is set so that the absolute value thereof is 5% to 20% of the output value of the integrating means, and therefore when the load applied to the motor fluctuates. Thus, the motor can be controlled stably and with high accuracy.
[0018]
In the motor control apparatus, the differential output upper limit value is set such that the absolute value thereof is 5% to 10% of the output value of the integrating means.
[0019]
According to such a motor control device, the differential output upper limit value is set so that the absolute value thereof is 5% to 10% of the output value of the integrating means, so that the load applied to the motor fluctuates. In addition, the motor can be controlled more stably and with high accuracy.
[0020]
In the motor control device, the control system controls the motor by a PWM control method.
[0021]
According to such a motor control device, the motor can be controlled with high accuracy even when the load applied to the motor controlled by the PWM control method fluctuates.
[0022]
In the motor control apparatus, the motor is a motor for driving a carriage including a print head that discharges ink to a printing medium and an ink container that stores ink supplied to the print head. A motor control device.
[0023]
According to such a motor control device, even if the driving load of the motor for driving the carriage fluctuates due to the change in the amount of ink in the ink container, the motor is controlled with high accuracy with respect to the target rotational speed. It is possible to follow.
[0024]
An ink jet printer provided with such a motor control device.
[0025]
According to such an ink jet printer, high quality printing can be maintained even if the amount of ink in the ink container changes.
[0026]
Further, a proportional means for outputting a value corresponding to a deviation between the motor rotation speed and the target rotation speed, and an integration for integrating a deviation between the motor rotation speed and the target rotation speed and outputting a value corresponding to the integral value. In a motor control method for controlling the motor by a control system having a means, a proportional output upper limit value corresponding to the output value of the integrating means is provided for the output value of the proportional means, and the output value of the proportional means is The motor control method according to claim 1, wherein when the proportional output upper limit value is exceeded, the output value of the proportional means is the proportional output upper limit value.
[0027]
According to such a motor control method, a proportional output upper limit value corresponding to the output value of the integrating means is provided for the output value of the proportional means, and the output value of the proportional means exceeds the proportional output upper limit value. Since the output value of the proportional means is the proportional output upper limit value, the motor can be controlled with high accuracy even when the load applied to the motor fluctuates.
[0028]
Further, a proportional means for outputting a value corresponding to a deviation between the motor rotation speed and the target rotation speed, and an integration for integrating a deviation between the motor rotation speed and the target rotation speed and outputting a value corresponding to the integral value. A motor control device for controlling the motor by a control system having a means is provided with a proportional output upper limit value corresponding to the output value of the integrating means for the output value of the proportional means, and the output value of the proportional means is If the proportional output upper limit value is exceeded, a computer program for causing the output value of the proportional means to be the proportional output upper limit value can be realized.
[0029]
Further, a computer main body, a display device, an input device, a flexible drive device, a CD-ROM drive device, a proportional means for outputting a value corresponding to a deviation between the rotational speed of the motor and the target rotational speed, and the rotational speed of the motor A printer that controls the motor by a control system having an integration unit that integrates a deviation between the target rotation speed and outputs a value corresponding to an integral value, wherein the integration unit A proportional output upper limit value according to the output value of the proportional means, and when the output value of the proportional means exceeds the proportional output upper limit value, the printer has an output value of the proportional means as the proportional output upper limit value. A computer system characterized by this can also be realized.
[0030]
=== Overall Configuration of Apparatus ===
First, the overall configuration of the apparatus will be described with reference to FIG. FIG. 1 is a schematic perspective view showing a main configuration of an ink jet printer 20 as an embodiment of the present invention.
[0031]
The printer 20 includes a paper feed motor 30 that sends the printing paper P in the sub-scanning direction SS, a carriage 50 on which a platen 40 and a print head 52 are mounted, a carriage motor 60 that moves the carriage 50 in the main scanning direction MS, It has.
[0032]
The carriage 50 is pulled by a pulling belt 62 driven by a carriage motor 60 and moves along a guide rail 64. In addition to the print head 52, the carriage 50 has a black cartridge 54 as a black ink container that contains black ink supplied to the print head 52, and a color ink container that contains color ink supplied to the print head 52. The color ink cartridge 56 is mounted.
[0033]
A capping device 80 for sealing the nozzle surface of the print head 52 when stopped is provided at the home position of the carriage 50 (the position on the right side in FIG. 1). When the print job ends and the carriage 50 reaches above the capping device 80, the capping device 80 is automatically raised by a mechanism (not shown) to seal the nozzle surface of the print head 52. This capping prevents the ink in the nozzles from drying out. The positioning control of the carriage 50 is performed to accurately position the carriage 50 at the position of the capping device 80, for example.
[0034]
=== Electrical configuration ===
Next, the electrical configuration of the printer 20 will be described with reference to FIG. FIG. 2 is a block diagram showing an electrical configuration of the printer 20.
[0035]
The printer 20 includes a main control circuit 102, a CPU 104, and various memories (ROM 110, RAM 112, EEPROM 114) connected to the main control circuit 102 and the CPU 104 via a bus. Connected to the main control circuit 102 are an interface circuit 120 that transmits and receives signals to and from an external device such as a personal computer, a paper feed motor drive circuit 130, a head drive circuit 140, and a CR motor drive circuit 150. ing.
[0036]
The paper feed motor 30 is driven by the paper feed motor drive circuit 130 to rotate the paper feed roller 34, thereby moving the printing paper P in the sub-scanning direction. The paper feed motor 30 is provided with a rotary encoder 32, and an output signal of the rotary encoder 32 is input to the main control circuit 102.
[0037]
A print head 52 having a plurality of nozzles (not shown) is provided on the bottom surface of the carriage 50. Each nozzle is driven by a head drive circuit 140 and ejects ink droplets toward a printing medium such as paper, cloth, or film.
[0038]
The carriage motor 60 is driven by a CR motor driving circuit 150. The printer 20 includes a linear encoder 70 for detecting the position and speed of the carriage 50 along the main scanning direction. The linear encoder 70 includes a linear code plate 72 provided parallel to the main scanning direction and a photo sensor 74 provided on the carriage 50. The output signal of the linear encoder 70 is input to the main control circuit 102.
[0039]
The main control circuit 102 has a function of supplying control signals to the three drive circuits 130, 140, and 150, respectively, decodes various print commands received by the interface circuit 120, and print data It also has a function of executing control related to adjustment and monitoring of various sensors. On the other hand, the CPU 104 has various functions for assisting the main control circuit 102, and executes control of various memories, for example.
[0040]
=== Configuration of Drive Control Device of Carriage Motor 60 ===
Next, the configuration of the drive control device for the carriage motor 60 will be described with reference to FIGS. 3 and 4. FIG. 3 is a block diagram showing the configuration of the drive control device for the carriage motor 60. FIG. 4 is an explanatory diagram showing the relationship between the motor drive signal Sdr and the characteristics of the carriage motor 60.
[0041]
The drive control device for the carriage motor 60 includes a CR motor control circuit 200 and a CR motor drive circuit 150. The CR motor control circuit 200 is a part of the main control circuit 102 shown in FIG.
[0042]
The output signal Sen of the linear encoder 70 is input to the position calculation circuit 230 and the speed calculation circuit 232 in the CR motor control circuit 200. These circuits 230 and 232 obtain a current rotational position Pc and a current rotational speed Vc of the carriage motor 60 based on an A phase signal and a B phase signal (not shown) of the output signal Sen of the encoder 70, respectively. The first subtracter 202 obtains a deviation ΔP between the given target rotational position Pt and the current rotational position Pc and inputs it to the target rotational speed generation circuit 204. The target rotational speed generation circuit 204 generates a target rotational speed Vt corresponding to the rotational position deviation ΔP.
[0043]
The second computing unit 206 obtains a deviation ΔV between the target rotational speed Vt and the current rotational speed Vc, and inputs this rotational speed deviation ΔV to the proportional element 210, the integral element 212, and the differential element 214. The calculation results QP, QI, and QD of these three calculation elements 210, 212, and 214 are added by an adder 216 to calculate an addition result ΣQ.
[0044]
The outputs QP, QI, QD of the respective arithmetic elements 210, 212, 214 and their addition result ΣQ are given by, for example, the following equations (1) to (4).
[0045]
QP (j) = ΔV (j) × Kp (1)
QI (j) = QI (j−1) + ΔV (j) × Ki (2)
QD (j) = {ΔV (j) −ΔV (j−1)} × Kd (3)
ΣQ (j) = QP (j) + QI (j) + QD (j) (4)
Here, j is time, Kp is a proportional gain, Ki is an integral gain, and Kd is a differential gain.
[0046]
The duty adjustment circuit 220 adjusts the level of the duty signal Dt supplied to the drive circuit 150 by adjusting the integration element 212 or the target rotational speed generation circuit 204 according to the addition result ΣQ (also referred to as “PID output”). adjust. The duty signal Dt is a signal proportional to the addition result ΣQ and is a signal indicating the duty of the carriage motor 60.
[0047]
The CR motor drive circuit 150 includes a DC-DC converter 154 configured with a transistor bridge and a base drive circuit 152. The base drive circuit 152 generates a base signal to be applied to the base of the transistor of the DC-DC converter 154 in accordance with the duty signal Dt supplied from the CR motor control circuit 200. The DC-DC converter 154 generates a motor drive signal Sdr according to the base signal and supplies it to the carriage motor 60.
[0048]
FIG. 4A shows a signal change of the motor drive signal Sdr. The duty of the motor drive signal Sdr is a value obtained by dividing the period Ton at the on level by one cycle Tp of the drive signal. In the present embodiment, the duty of the motor drive signal Sdr is also referred to as “carriage motor duty”.
[0049]
When a DC motor with a brush is used as the carriage motor 60, its torque / rotational speed characteristics are proportional to the duty as shown in FIG. The CR motor drive circuit 150 generates the drive signal Sdr so that the duty of the drive signal Sdr is proportional to the duty signal Dt. As a result, the carriage motor 60 generates a driving force according to the duty signal Dt given from the CR motor control circuit 200 to drive the carriage.
[0050]
=== Outline of printing operation ===
Next, the outline of the printing operation by the print head 52 will be described with reference to FIG. FIG. 5 is a diagram for explaining the outline of the printing operation.
[0051]
As described above, the target rotational speed generator 204 generates the target rotational speed Vt of the carriage motor 60 in accordance with the rotational position deviation ΔP. The generated change pattern of the target rotational speed Vt is, for example, as shown in FIG.
[0052]
In FIG. 5, a period from 0 to t1 is an acceleration control period of the carriage motor 60, and the carriage motor 60 is controlled to accelerate during this period. The period from t1 to t2 is a constant speed control period of the carriage motor 60. In this period, the carriage motor 60 is controlled to rotate at a constant speed at a rotation speed of Vcont. The period from t2 to t3 is a deceleration control period of the carriage motor 60, and the carriage motor 60 is controlled to decelerate during this period.
[0053]
Accordingly, the carriage 50 on which the print head 52 is mounted is controlled to accelerate during the period from 0 to t1, controlled to move at a constant speed during the period from t1 to t2, and decelerated during the period from t2 to t3. Be controlled.
[0054]
Here, ink is applied from the print head 52 to the printing medium from a time just before the carriage 50 on which the print head 52 is mounted starts to move at a constant speed to a time just after the constant speed movement ends. Printing is performed by discharging the ink. For example, when the rotation speed of the carriage motor 60 that drives the carriage 50 on which the print head 52 is mounted reaches 80% to 90% of the target constant speed rotation speed Vcont, ink ejection is started, and the rotation speed of the carriage motor 60 is increased. When the target constant speed rotation speed Vcont is 80% to 90% or less, the ink ejection is finished. Note that ink may be ejected from the print head 52 to the printing medium only during a period in which the carriage 50 on which the print head 52 is mounted moves at a constant speed.
[0055]
Therefore, in order to perform high-quality printing on the printing medium, the rotation speed of the carriage motor 60 is particularly determined at the end of the acceleration control period, the constant speed control period, and the initial stage of the deceleration control period. It is required to accurately follow the target rotation speed pattern as shown in FIG.
[0056]
Here, as described above, in addition to the print head 52, an ink container (a black ink cartridge 54 and a color ink cartridge 56) that stores ink to be supplied to the print head 52 is mounted on the carriage 50. Since the ink stored in the ink container is consumed every time printing is performed, the weight of the ink container decreases every time printing is performed.
[0057]
For this reason, the carriage motor 60 in the case where an ink container having a small amount of remaining ink is mounted on the carriage 50 as compared with the driving load of the carriage motor 60 when a new ink container is mounted on the carriage 50. The driving load is reduced.
[0058]
Therefore, in order to maintain high-quality printing from when a new ink container is mounted on the carriage 50 until the ink in the ink container runs out, in particular, the end of the acceleration control period, the constant speed control period, and In the initial stage of the deceleration control period, even if the driving load of the carriage motor 60 fluctuates, it is required that the rotation speed of the carriage motor 60 accurately follows the target rotation speed pattern as shown in FIG. become.
[0059]
=== Operation of CR Motor Control Circuit 200 ===
Next, the operation of the CR motor control circuit 200 will be described with reference to FIGS. FIG. 6 is a diagram showing a reference example of the operation of the CR motor control circuit 200. FIG. 7 is a diagram illustrating an operation example of the CR motor control circuit 200 according to the present embodiment.
[0060]
When the CR motor control circuit 200 is operated, first, the proportional element 210 and the integration are performed so that the rotational speed of the carriage motor 60 when the new ink container is mounted on the carriage 50 accurately follows the target rotational speed. The proportional gain Kp, integral gain Ki, and differential gain Kd in the element 212 and the differential element 214 are tuned.
[0061]
In general, when a control device in which each gain is tuned in a state where the motor driving load is large, the operation of the motor becomes oscillatory as the driving load decreases. Therefore, also in the carriage motor 60 shown in the present embodiment, as the ink in the ink container is reduced by printing and the driving load of the carriage motor 60 is reduced, the operation of the carriage 50 becomes oscillating.
[0062]
In order to prevent the carriage motor 60 from vibrating when the ink in the ink container decreases, upper limit values are provided for the output values of the proportional element 210 and the differential element 214, respectively. When the output value of the differential element 214 exceeds the respective upper limit value, the upper limit value may be used as the output value instead of the actual output value.
[0063]
The present embodiment is characterized in how to determine the upper limit value. Hereinafter, how to determine the upper limit value according to the present embodiment will be described with reference to a reference example.
[0064]
<Operation of reference example>
First, a reference example of the operation of the CR motor control circuit 200 will be described with reference to FIG. FIG. 6 is a diagram illustrating an operation example of the CR motor control circuit 200 according to the reference example. FIG. 6A is a diagram showing the relationship between the target rotational speed pattern of the carriage 50 and the actual rotational speed. FIG. 6B is a diagram for explaining the output value of the proportional element 210.
[0065]
In this reference example, an upper limit value is provided for each of the proportional element 210 and the differential element 214 regardless of the driving load of the carriage motor 60. As shown in FIG. 6B, with respect to the output value of the proportional element 210, the acceleration control period from 0 to t1, the constant speed control period from t1 to t2, and the deceleration control period from t2 to t3 are each first. An upper limit value, a second upper limit value, and a third upper limit value are provided.
[0066]
These upper limit values are necessary to prevent the carriage motor 60 from vibrating when the ink in the ink container is reduced. If the value is too small, the target rotation speed of the carriage motor 60 is set as the target rotation speed. Since the follow-up property to deteriorates, it is necessary to increase the value to some extent.
[0067]
As is clear from FIG. 6B, the first upper limit value, the second upper limit value, and the third upper limit value are determined regardless of the actual driving load of the carriage motor 60. Note that the output value of the proportional element 210 will be described below because an upper limit value may be set for the output value of the differential element 214 in the same manner.
[0068]
In this reference example, when the output value of the proportional element 210 exceeds the upper limit value (first upper limit value, second upper limit value, third upper limit value), the output value of the proportional element 210 is changed to the actual output value. The upper limit value (first upper limit value, second upper limit value, third upper limit value) is set.
[0069]
When the ink in the ink container is low, the weight of the ink container is small. Therefore, as shown in FIG. 6B, the output value of the proportional element 210 is large during most of the acceleration control period from 0 to t1. Instead of the actual output value, it becomes an upper limit value (first upper limit value, second upper limit value, third upper limit value). Moreover, the upper limit values (first upper limit value, second upper limit value, and third upper limit value), which are output values of the proportional element 210, are determined regardless of the actual driving load of the carriage motor 60 as described above. It has been.
[0070]
As a result, when the ink in the ink container is low, as shown in FIG. 6A, the rotation of the carriage motor 60 becomes oscillating despite the above-described upper limit. If the rotation of the carriage motor 60 becomes oscillating at the end of the acceleration control period, the constant speed control period, or the like, the print quality is deteriorated for the reason described above.
[0071]
In order to prevent the rotation of the carriage motor 60 from vibrating, the proportional gain Kp, the integral gain Ki, and the differential gain Kd in the proportional element 210, the integral element 212, and the derivative element 214 are decreased. As a result, the followability of the rotation speed of the carriage motor 60 with respect to the target rotation speed deteriorates.
[0072]
<Operation of the present embodiment>
Next, the operation of the CR motor control circuit 200 according to the present embodiment will be described with reference to FIG. FIG. 7 is a diagram illustrating an operation example of the CR motor control circuit 200 according to the present embodiment. FIG. 7A is a diagram showing the relationship between the target rotation speed pattern of the carriage 50 and the actual rotation speed. FIG. 7B is a diagram for explaining the output value of the proportional element 210.
[0073]
Unlike the reference example, this example is characterized in that an upper limit value is provided for each of the proportional element 210 and the differential element 214 in accordance with the actual driving load of the carriage motor 60.
[0074]
The actual driving load of the carriage motor 60 is proportional to the output value of the integrating element 212. Therefore, in this example, the proportional output upper limit value, which is the upper limit value of the output value of the proportional element 210, and the differential output upper limit value, which is the upper limit value of the output value of the differential element 214, are values corresponding to the output value of the integral element 212. It was.
[0075]
The absolute value of the proportional output upper limit value is preferably 5% to 20% of the output value of the integral element 212, and the differential output upper limit value is 5% to 10% of the output value of the integral element 212. It is preferable that Since the output values of the proportional element 210 and the differential element 214 can take a positive value and a negative value, the proportional output upper limit value and the differential output upper limit value have a positive upper limit value and a negative upper limit value. In FIG. 7B, the proportional output upper limit value, which is ± 15% of the output value of the integration element 212, is shown as the proportional output upper limit value (positive) and the proportional output upper limit value (negative), respectively. . Note that the output value of the proportional element 210 will be described below because an upper limit value may be set for the output value of the differential element 214 in the same manner.
[0076]
In this example, when the output value of the proportional element 210 exceeds the positive and negative proportional output upper limit values when the ink in the ink container is low, the output value of the proportional element 210 is set as the proportional output upper limit value. However, the proportional output upper limit value is a value corresponding to the actual driving load of the carriage motor 60.
[0077]
In the example shown in FIG. 7B, the output value of the proportional element 210 exceeds the proportional output upper limit value during the period from 0 to P6 and the period from P7 to P8 in the acceleration period from 0 to t1. Therefore, the output value of the proportional element 210 in the period of 0 to P6 is the proportional output upper limit value (positive), and the output value of the proportional element 210 in the period of P7 to P8 is the proportional output upper limit value (negative).
[0078]
In this example, since the proportional output upper limit value is determined according to the driving load of the carriage motor 60, when the driving load, that is, the output value of the integrating element 212 is small, the proportional element 210 outputs a relatively small proportional output. When the upper limit value is output and the drive load, that is, the output value of the integral element 212 is large, the proportional element 210 outputs a relatively large proportional output upper limit value.
[0079]
Therefore, even when the ink in the ink container is low, the rotation of the carriage motor 60 does not vibrate at the end of the acceleration control period, the constant speed control period, etc., as shown in FIG. 7B. Follow the target rotation speed.
[0080]
As a result, regardless of the amount of ink in the ink container mounted on the carriage 50, the operation of the carriage 50 during the period of ejecting ink from the print head 52 is controlled with high accuracy, and high-quality printing is maintained. Become.
[0081]
Further, as in the reference example, in order to prevent the rotation of the carriage motor 60 from vibrating, the proportional gain Kp, the integral gain Ki, and the proportional element 210, the integral element 212, and the derivative element 214 are There is no need to lower the differential gain Kd.
[0082]
=== Other Embodiments ===
As mentioned above, although the motor control apparatus etc. which concern on this invention have been demonstrated based on some embodiment, above-mentioned embodiment of this invention is for making an understanding of this invention easy, and this invention is demonstrated. It is not limited. The present invention can be changed and improved without departing from the gist thereof, and the present invention includes the equivalents thereof.
[0083]
In the above-described embodiment, the control system including the proportional element, the integral element, and the differential element has been described as an example. However, the present invention can also be applied to a control system having no differential element.
[0084]
In addition, the output value of the integral element is detected at a predetermined cycle, and the detected output value is multiplied by a predetermined constant to determine the upper limit each time. In addition, the relationship between the output value of the integral element and the upper limit value It is also possible to prepare a table in which the upper limit value is determined based on this table.
[0085]
Moreover, although the printing paper has been described as an example of the printing material, a film, a cloth, a thin metal plate, or the like may be used as the printing material.
[0086]
A computer system including a printer, a computer main body, a display device such as a CRT, an input device such as a mouse or a keyboard, a flexible drive device, and a CD-ROM drive device according to the above-described embodiments can also be realized. The computer system realized in this way is a system superior to the conventional system as a whole system.
[0087]
The printer according to the above-described embodiment may have a part of functions or mechanisms respectively included in the computer main body, the display device, the input device, the flexible disk drive device, and the CD-ROM drive device. For example, the printer includes an image processing unit that performs image processing, a display unit that performs various displays, and a recording medium attachment / detachment unit for attaching / detaching a recording medium that records image data captured by a digital camera or the like. Also good.
[0088]
In each of the above embodiments, a color ink jet printer is used as the printing apparatus. However, the present invention is not limited to this as long as it is a printing apparatus capable of performing printing processing on a printing medium. For example, a monochrome ink jet printer, laser printer, facsimile You may apply to.
[0089]
【The invention's effect】
According to the present invention, there is provided a motor control device, an ink jet printer, a motor control method, a computer program, and a computer system capable of controlling a motor with high accuracy even when a load applied to the motor fluctuates. It can be realized.
[0090]
[Brief description of the drawings]
FIG. 1 is a schematic perspective view showing a main configuration of an inkjet printer 20 as an embodiment of the present invention.
FIG. 2 is a block diagram illustrating an electrical configuration of a printer.
FIG. 3 is a block diagram showing a configuration of a drive control device for a carriage motor 60;
4 is an explanatory diagram showing a relationship between a motor drive signal Sdr and the characteristics of the carriage motor 60. FIG.
FIG. 5 is a diagram for explaining an outline of a printing operation.
6 is a diagram showing a reference example of the operation of the CR motor control circuit 200. FIG.
FIG. 7 is a diagram showing an operation example of a CR motor control circuit 200 according to the present embodiment.
[Explanation of symbols]
20 ... Inkjet printer
30 ... paper feed motor
32 ... Rotary encoder
34 ... Paper feed roller
40 ... Platen
50 ... carriage
52... Print head
54 ... Black cartridge
56 ... Color ink cartridge
60 ... Carriage motor
62 ... Traction belt
64 ... guide rail
70 ... Linear encoder
72: Code plate
74 ... Photosensor
80 ... Capping device
102 ... Main control circuit
104 ... CPU
110 ... ROM
112 ... RAM
114 ・ ・ ・ EEPROM
120 ... Interface circuit
130 ... Paper feed motor drive circuit
140... Head drive circuit
150 ... CR motor drive circuit
152... Base drive circuit
154 ... DC-DC converter
200 ... CR motor control circuit
202... First subtractor
204... Target speed generation circuit
206 ... Second subtractor
210 ... Proportional element
212 ... Integral element
214 ... Differential element
216 ... Adder
220 ... Duty adjustment circuit
230 ... Position calculation circuit
232 ... Speed calculation circuit

Claims (10)

  1. Proportional means for outputting a value corresponding to the deviation between the motor rotation speed and the target rotation speed, and an integration means for integrating the deviation between the motor rotation speed and the target rotation speed and outputting a value corresponding to the integral value. In a motor control device for controlling the motor by a control system having:
    For the output value of the proportional means, a proportional output upper limit value corresponding to the output value of the integrating means is provided, and when the output value of the proportional means exceeds the proportional output upper limit value, the output value of the proportional means Is the proportional output upper limit value.
  2. The motor control device according to claim 1,
    The control system includes a differentiating unit that differentiates a deviation between the rotation speed of the motor and a target rotation speed and outputs a value corresponding to the differential value,
    For the output value of the differentiating means, a differential output upper limit value corresponding to the output value of the integrating means is provided, and when the output value of the differentiating means exceeds this differential output upper limit value, the output value of the differentiating means Is the differential output upper limit value.
  3. In the motor control device according to claim 1 or 2,
    The motor control device according to claim 1, wherein the proportional output upper limit value is set such that an absolute value thereof is 5% to 20% of an output value of the integrating means.
  4. In the motor control device according to claim 2 or claim 3,
    The motor control device according to claim 1, wherein the differential output upper limit value is set such that an absolute value thereof is 5% to 10% of an output value of the integrating means.
  5. In the motor control device according to any one of claims 1 to 4,
    The motor control apparatus, wherein the control system controls the motor by a PWM control method.
  6. In the motor control device according to any one of claims 1 to 5,
    The motor control device according to claim 1, wherein the motor is a motor for driving a carriage including a print head that discharges ink to a printing medium and an ink container that stores ink supplied to the print head.
  7. An ink jet printer comprising the motor control device according to any one of claims 1 to 6.
  8. Proportional means for outputting a value corresponding to the deviation between the rotational speed of the motor and the target rotational speed, and an integrating means for integrating the deviation between the rotational speed of the motor and the target rotational speed and outputting a value corresponding to the integral value In a motor control method for controlling the motor by a control system having:
    For the output value of the proportional means, a proportional output upper limit value corresponding to the output value of the integrating means is provided, and when the output value of the proportional means exceeds the proportional output upper limit value, the output value of the proportional means Is the proportional output upper limit value.
  9. Proportional means for outputting a value corresponding to the deviation between the rotational speed of the motor and the target rotational speed, and an integrating means for integrating the deviation between the rotational speed of the motor and the target rotational speed and outputting a value corresponding to the integral value In a motor control device for controlling the motor by a control system having
    For the output value of the proportional means, a proportional output upper limit value corresponding to the output value of the integrating means is provided, and when the output value of the proportional means exceeds the proportional output upper limit value, the output value of the proportional means Is a computer program for causing the proportional output upper limit value.
  10. Computer main body, display device, input device, flexible drive device, CD-ROM drive device, proportional means for outputting a value corresponding to the deviation between the rotational speed of the motor and the target rotational speed, the rotational speed of the motor and the target A printer that controls the motor by a control system having an integration unit that integrates a deviation from a rotation speed and outputs a value corresponding to an integration value, and outputs the output of the integration unit with respect to the output value of the proportional unit A proportional output upper limit value corresponding to the value is provided, and when the output value of the proportional means exceeds the proportional output upper limit value, the printer has an output value of the proportional means as the proportional output upper limit value. A featured computer system.
JP2001264659A 2001-08-31 2001-08-31 Motor control device, inkjet printer, motor control method, computer program, and computer system Expired - Fee Related JP3738715B2 (en)

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JP2005354800A (en) * 2004-06-10 2005-12-22 Seiko Epson Corp Motor control method, motor control device and inkjet printer
JP2009204680A (en) * 2008-02-26 2009-09-10 Ricoh Co Ltd Sheet-like member carrying device, and image forming apparatus
JP5315753B2 (en) 2008-03-31 2013-10-16 セイコーエプソン株式会社 Fluid ejecting apparatus and fluid ejecting method
JP5272580B2 (en) 2008-04-25 2013-08-28 セイコーエプソン株式会社 Printing apparatus and printing method
JP5332409B2 (en) 2008-08-29 2013-11-06 セイコーエプソン株式会社 Printing method and printing apparatus
JP5365463B2 (en) 2009-10-14 2013-12-11 セイコーエプソン株式会社 Printing device

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