JP3777936B2 - Motor control method and control apparatus - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a motor control method and a control device, and more particularly, to a motor control method and a control device that can stabilize the behavior of a control target during deceleration control and perform highly accurate control.
[0002]
[Prior art]
First, a schematic configuration and control method of an ink jet printer using a DC motor control device will be described.
[0003]
FIG. 3 is a block diagram showing a schematic configuration of the ink jet printer.
[0004]
The ink jet printer shown in FIG. 3 ejects ink onto a paper feed motor (hereinafter also referred to as PF motor) 1 that feeds paper, a paper feed motor driver 2 that drives the paper feed motor 1, and printing paper 50. The head 9 is fixed, the carriage 3 is driven in a direction parallel to the printing paper 50 and perpendicular to the paper feeding direction, a carriage motor (hereinafter also referred to as a CR motor) 4 for driving the carriage 3, and a carriage motor. 4, a DC motor 6 that delivers a direct current command value to the CR motor driver 5, a pump motor 7 that controls the suction of ink to prevent clogging of the head 9, and a pump motor 7 Motor driver 8 for driving the head, head driver 10 for driving and controlling the head 9, and linear type fixed to the carriage 3 A encoder 11, a code plate 12 for a linear encoder 11 having slits formed at predetermined intervals, a rotary encoder 13 for the PF motor 1, and a paper detection sensor 15 for detecting the end position of the paper being printed. A CPU 16 that controls the entire printer, a timer IC 17 that periodically generates an interrupt signal to the CPU 16, and an interface unit (hereinafter also referred to as IF) 19 that transmits and receives data to and from the host computer 18. The ASIC 20 for controlling the print resolution and the drive waveform of the head 9 based on the print information sent from the host computer 18 via the IF 19, and the PROM 21 and RAM 22 used as work areas and program storage areas of the ASIC 20 and the CPU 16. And the EEPROM 23 and the plastic paper 50 supporting the printing paper 50 25, a transport roller 27 that is driven by the PF motor 1 to transport the printing paper 50, a pulley 30 that is attached to the rotating shaft of the CR motor 4, and a timing belt 31 that is driven by the pulley 30. Yes.
[0005]
The DC unit 6 drives and controls the paper feed motor driver 2 and the CR motor driver 5 based on the control command sent from the CPU 16 and the outputs of the encoders 11 and 13. Further, both the paper feed motor 1 and the CR motor 4 are constituted by DC motors.
[0006]
FIG. 4 is a perspective view showing a configuration around the carriage 3 of the ink jet printer.
[0007]
As shown in FIG. 4, the carriage 3 is connected to the carriage motor 4 via a pulley 30 by a timing belt 31, and is driven so as to move parallel to the platen 25 while being guided by a guide member 32. A recording head 9 having a nozzle row for ejecting black ink and a nozzle row for ejecting color ink is provided on the surface of the carriage 3 facing the printing paper, and each nozzle is supplied with ink from the ink cartridge 34 for printing. Characters and images are printed by ejecting ink droplets on paper.
[0008]
Further, in the non-printing area of the carriage 3, a capping device 35 for sealing the nozzle openings of the recording head 9 during non-printing and a pump unit 36 having the pump motor 7 shown in FIG. 3 are provided. . When the carriage 3 moves from the printing area to the non-printing area, the carriage 3 comes into contact with a lever (not shown), the capping device 35 moves upward, and the head 9 is sealed.
[0009]
When the nozzle opening row of the head 9 is clogged or when the ink is forcibly ejected from the head 9 by replacing the cartridge 34 or the like, the pump unit 36 is operated with the head 9 sealed. The ink is sucked out from the nozzle opening row by the negative pressure from the pump unit 36. As a result, dust and paper dust adhering to the vicinity of the nozzle opening row are washed, and air bubbles in the head 9 are discharged to the cap 37 together with ink.
[0010]
FIG. 5 is an explanatory diagram schematically showing the configuration of the linear encoder 11 attached to the carriage 3.
[0011]
The encoder 11 illustrated in FIG. 5 includes a light emitting diode 11a, a collimator lens 11b, and a detection processing unit 11c. The detection processing unit 11c includes a plurality (four) of photodiodes 11d, a signal processing circuit 11e, and two comparators 11fA and 11fB.
[0012]
When the voltage VCC is applied across the light emitting diode 11a via a resistor, light is emitted from the light emitting diode 11a. This light is condensed into parallel light by the collimator lens 11 b and passes through the code plate 12. The code plate 12 is provided with slits at predetermined intervals (for example, 1/180 inch (1 inch = 2.54 cm)).
[0013]
The parallel light that has passed through the code plate 12 enters each photodiode 11d through a fixed slit (not shown) and is converted into an electrical signal. The electric signals output from the four photodiodes 11d are processed in the signal processing circuit 11e, the signals output from the signal processing circuit 11e are compared in the comparators 11fA and 11fB, and the comparison result is output as a pulse. Pulses ENC-A and ENC-B output from the comparators 11fA and 11fB are output from the encoder 11.
[0014]
FIG. 6 is a timing chart showing waveforms of two output signals of the encoder 11 at the time of forward rotation and reverse rotation of the CR motor.
[0015]
As shown in FIGS. 6A and 6B, the pulse ENC-A and the pulse ENC-B are different in phase by 90 degrees in both cases of CR motor forward rotation and reverse rotation. When the CR motor 4 is rotating forward, that is, when the carriage 3 is moving in the main scanning direction, the pulse ENC-A is 90 degrees from the pulse ENC-B, as shown in FIG. When the phase is advanced only by the time and the CR motor 4 is reversely rotated, the encoder 4 is configured so that the phase of the pulse ENC-A is delayed by 90 degrees from the pulse ENC-B, as shown in FIG. ing. One period T of the pulse corresponds to the slit interval (for example, 1/180 inch) of the code plate 12, and is equal to the time for the carriage 3 to move the slit interval.
[0016]
On the other hand, the rotary encoder 13 for the PF motor 1 has the same configuration as that of the linear encoder 11 except that the code plate is a rotating disc that rotates in accordance with the rotation of the PF motor 1, and has two output pulses. ENC-A and ENC-B are output. In the inkjet printer, the slit interval of the plurality of slits provided on the code plate of the encoder 13 for the PF motor 1 is 1/180 inch, and when the PF motor 1 rotates by the 1 slit interval, 1/1440 inch. Only the paper is fed.
[0017]
FIG. 7 is a perspective view showing portions related to paper feeding and paper detection.
The position of the paper detection sensor 15 shown in FIG. 3 will be described with reference to FIG. In FIG. 7, the printing paper 50 inserted into the paper feed insertion slot 61 of the printer 60 is sent into the printer 60 by a paper feed roller 64 driven by a paper feed motor 63. The leading edge of the printing paper 50 fed into the printer 60 is detected by, for example, the optical paper detection sensor 15. The paper 50 whose leading edge is detected by the paper detection sensor 15 is fed by the paper feed roller 65 and the driven roller 66 driven by the PF motor 1.
[0018]
Subsequently, printing is performed by dropping ink from a recording head (not shown) fixed to the carriage 3 that moves along the carriage guide member 32. When the paper is fed to a predetermined position, the end of the currently printed printing paper 50 is detected by the paper detection sensor 15. The printed paper 50 that has been printed is discharged from the paper discharge port 62 to the outside by the paper discharge roller 68 and the driven roller 69 driven by the gear 67C via the gears 67A and 67B driven by the PF motor 1. The encoder 13 is connected to the rotation shaft of the paper feed roller 65.
[0019]
Next, a configuration of a DC unit 6 that is a conventional DC motor control device that controls the CR motor 4 of the above-described inkjet printer, and a control method by the DC unit 6 will be described.
[0020]
FIG. 8 is a block diagram showing a configuration of a DC unit 6 which is a conventional DC motor control device, and FIG. 9 is a graph showing a motor current and a motor speed of the CR motor 4 controlled by the DC unit 6. is there.
[0021]
The DC unit 6 shown in FIG. 8 includes a position calculator 6a, a subtractor 6b, a target speed calculator 6c, a speed calculator 6d, a subtractor 6e, a proportional element 6f, an integral element 6g, a differential It comprises an element 6h, an adder 6i, a D / A converter 6j, a timer 6k, and an acceleration controller 6m.
[0022]
The position calculator 6a detects the rising edge and the falling edge of each of the output pulses ENC-A and ENC-B of the encoder 11, counts the number of detected edges, and based on the counted value, the carriage 3 The position of is calculated. This count is incremented by "+1" when one edge is detected when the CR motor 4 is rotating forward, and is "-1" when one edge is detected when the CR motor 4 is rotating in reverse. Is added. The period of each of the pulses ENC-A and ENC-B is equal to the slit interval of the code plate 12, and the phase of the pulse ENC-A and the pulse ENC-B differ by 90 degrees. Therefore, the count value “1” of the count corresponds to ¼ of the slit interval of the code plate 12. Thus, if the count value is multiplied by 1/4 of the slit interval, the amount of movement from the position of the carriage 3 corresponding to the count value “0” can be obtained. At this time, the resolution of the encoder 11 is ¼ of the interval between the slits of the code plate 12. If the interval between the slits is 1/180 inch, the resolution is 1/720 inch.
[0023]
The subtractor 6b calculates a position deviation between the target position sent from the CPU 16 and the actual position of the carriage 3 obtained by the position calculation unit 6a.
[0024]
The target speed calculator 6c calculates the target speed of the carriage 3 based on the position deviation that is the output of the subtractor 6b. This calculation is performed by multiplying the position deviation by the gain KP. This gain KP is determined according to the position deviation. The value of the gain KP may be stored in a table (not shown).
[0025]
The speed calculator 6 d calculates the speed of the carriage 3 based on the output pulses ENC-A and ENC-B of the encoder 11. This speed is obtained as follows. First, the rising edge and the falling edge of each of the output pulses ENC-A and ENC-B of the encoder 11 are detected, and the time interval between edges corresponding to 1/4 of the slit interval of the code plate 12 is determined by a timer counter. Count. If this count value is T and the slit interval of the code plate 12 is λ, the carriage speed can be obtained as λ / (4T). Here, the calculation of the speed is obtained by measuring one cycle of the output pulse ENC-A, for example, from the rising edge to the next rising edge with a timer counter.
[0026]
The subtractor 6e calculates a speed deviation between the target speed and the actual speed of the carriage 3 calculated by the speed calculation unit 6d.
[0027]
The proportional element 6f multiplies the speed deviation by a constant Gp and outputs the multiplication result. The integration element 6g integrates the speed deviation multiplied by a constant Gi. The differentiation element 6h multiplies the difference between the current speed deviation and the previous speed deviation by a constant Gd, and outputs the multiplication result. The calculation of the proportional element 6f, the integral element 6g, and the derivative element 6h is performed in synchronization with the rising edge of the output pulse ENC-A, for example, for each cycle of the output pulse ENC-A of the encoder 11.
[0028]
The outputs of the proportional element 6f, the integral element 6g, and the derivative element 6h are added by the adder 6i. Then, the addition result, that is, the driving current of the CR motor 4 is sent to the D / A converter 6j and converted into an analog current. The CR motor 4 is driven by the driver 5 based on the analog voltage.
[0029]
The timer 6k and the acceleration control unit 6m are used for acceleration control, and the PID control using the proportional element 6f, the integral element 6g, and the derivative element 6h is used for constant speed and deceleration control during acceleration.
[0030]
The timer 6k generates a timer interrupt signal every predetermined time based on the clock signal sent from the CPU 16.
[0031]
Each time the acceleration control unit 6m receives the timer interrupt signal, the acceleration control unit 6m integrates a predetermined current value (for example, 20 mA) to the target current value, and the integration result, that is, the target current value of the DC motor 4 during acceleration is D / A is sent to the A converter 6j. As in the case of PID control, the target current value is converted into an analog current by the D / A converter 6j, and the CR motor 4 is driven by the driver 5 based on this analog current.
[0032]
The driver 5 includes, for example, four transistors, and (a) an operation mode in which the CR motor 4 is rotated forward or reverse by turning each of the transistors on or off based on the output of the D / A converter 6j. b) Regenerative brake operation mode (short brake operation mode, i.e., mode in which the CR motor is stopped) and (c) mode in which the CR motor is to be stopped can be performed.
[0033]
Next, the operation of the DC unit 6, that is, a conventional DC motor control method will be described with reference to FIGS. 9 (a) and 9 (b).
[0034]
When the start command signal for starting the CR motor 4 is sent from the CPU 16 to the DC unit 6 when the CR motor 4 is stopped, the start initial current value I0 is sent from the acceleration control unit 6m to the D / A converter 6j. It is done. This starting initial current value I0 is sent from the CPU 16 to the acceleration control unit 6m together with the starting command signal. The current value I0 is converted into an analog voltage by the D / A converter 6j and sent to the driver 5, and the driver 5 starts to start the CR motor 4 (see FIGS. 9A and 9B). After receiving the start command signal, a timer interrupt signal is generated from the timer 6k every predetermined time. Each time the acceleration control unit 6m receives a timer interrupt signal, the acceleration control unit 6m adds a predetermined current value (for example, 20 mA) to the startup initial current value I0, and sends the integrated current value to the D / A converter 6j. Then, the integrated current value is converted into an analog current by the D / A converter 6j and sent to the driver 5. Then, the CR motor is driven by the driver 5 and the speed of the CR motor 4 is increased so that the value of the current supplied to the CR motor 4 becomes the integrated current value (see FIG. 9B). For this reason, the current value supplied to the CR motor 4 is stepped as shown in FIG. At this time, the PID control system is also operating, but the D / A converter 6j selects and takes in the output of the acceleration control unit 6m.
[0035]
The integration process of the current value of the acceleration control unit 6m is performed until the integrated current value becomes a constant current value IS. When the current value integrated at time t1 reaches a predetermined value IS, the acceleration control unit 6m stops the integration process and supplies a constant current value IS to the D / A converter 6j. Thus, the driver 5 is driven so that the value of the current supplied to the CR motor 4 becomes the current value IS (see FIG. 9A).
[0036]
In order to prevent the speed of the CR motor 4 from overshooting, when the CR motor 4 reaches a predetermined speed V1 (see time t2), acceleration control is performed so as to reduce the current supplied to the CR motor 4. The unit 6m controls. At this time, the speed of the CR motor 4 further increases, but when the speed of the CR motor 4 reaches a predetermined speed Vc (see time t3 in FIG. 9B), the D / A converter 6j outputs the output of the PID control system. That is, the output of the adder 6i is selected and PID control is performed.
[0037]
That is, the target speed is calculated based on the position deviation between the target position and the actual position obtained from the output of the encoder 11, and based on the speed deviation between the target speed and the actual speed obtained from the output of the encoder 11. Thus, the proportional element 6f, the integral element 6g, and the differential element 6h operate to perform proportional, integral, and differential calculations, respectively, and the CR motor 4 is controlled based on the sum of these calculation results. The proportional, integral and differential calculations are performed in synchronization with the rising edge of the output pulse ENC-A of the encoder 11, for example. As a result, the speed of the DC motor 4 is controlled to a desired speed Ve. The predetermined speed Vc is preferably 70 to 80% of the desired speed Ve.
[0038]
Since the DC motor 4 has a desired speed from time t4, the carriage 3 also has a desired constant speed Ve, and printing processing can be performed.
[0039]
When the printing process is completed and the carriage 3 approaches the target position (see time t5 in FIG. 9B), the position deviation becomes small and the target speed also becomes small. Therefore, the speed deviation, that is, the output of the subtractor 6e is obtained. It becomes negative, the DC motor 4 is decelerated, and stops at time t6.
[0040]
[Problems to be solved by the invention]
Next, problems in the control by the conventional DC motor control method and control device will be described.
[0041]
FIG. 10 is a graph showing the target speed and the current speed in the vicinity of the target stop position in the control by the conventional DC motor control method and control device.
[0042]
As the target speed waveform in the vicinity of the target stop position in the control by the conventional DC motor control method and control device, the first target speed waveform pattern shown in FIG. 10A and the second target speed shown in FIG. A waveform pattern was considered.
[0043]
However, in the first target speed waveform pattern, the constant speed control is not performed for the target speed VC1, and the transition is made directly from the acceleration control to the deceleration control. Therefore, since the change in the command speed at the time of shifting from the acceleration control to the deceleration control is very large, the behavior of the motor to be controlled becomes very unstable, and in some cases, the control may be disabled. Further, since the motor speed has a certain upper limit, it is difficult to control so that the waveform of the target speed VC1 between the current position and the target stop position is always a linear waveform with a constant slope. Therefore, it is unrealistic to control the target speed waveform as the first target speed waveform pattern.
[0044]
On the other hand, in the second target speed waveform pattern, the maximum speed Vmax of the motor speed is considered, and the control of the target speed VC2 is shifted to the deceleration control after performing the constant speed control at the maximum speed Vmax. However, even in this control pattern, there is a large change in the command speed when shifting from the constant speed control to the deceleration control, and as shown in the waveform of the current speed VP2 that is the actual motor speed, It becomes time-consuming until the behavior becomes stable again, and in some cases, the movement stops from the target stop position. Therefore, it is difficult to perform highly accurate control in the control in which the waveform of the target speed is the second target speed waveform pattern.
[0045]
As described above, there is a problem with the speed control pattern near the target stop position in the conventional DC motor control method and control device, and high-precision control is performed while maintaining the stable behavior of the motor to be controlled. It was difficult.
[0046]
The present invention has been made in view of the above problems, and an object of the present invention is to provide a motor control method and a control device that can perform high-precision control while maintaining stable behavior of the motor during deceleration control. It is to be.
[0047]
[Means for Solving the Problems]
One aspect of the motor control method according to the present invention is a motor control method for performing deceleration control in a deceleration control section of a paper feed motor of a printer to be controlled, based on a waveform pattern of a generated target speed VC. The waveform pattern of the speed VC includes the maximum speed Vmax of the paper feed motor, the deceleration control section distance N from the deceleration control section start position to the target stop position, the distance x from the deceleration control section start position to the current position, and the above The index that defines the shape of the waveform pattern of the target speed VC, and the index that defines the shape of the waveform pattern of the target speed VC corresponds to at least the value of the maximum speed Vmax of the paper feed motor. With this configuration, the change in the waveform of the target speed VC becomes gradual, so that the motor speed during deceleration control can be reduced. It is possible to perform highly accurate control while maintaining the dynamic stability.
Another aspect of the motor control method according to the present invention is a motor control method for performing deceleration control in a deceleration control section of a paper feed motor of a printer to be controlled, based on a waveform pattern of a generated target speed VC. The waveform pattern of the target speed VC includes the maximum speed Vmax of the paper feed motor, the deceleration control section distance N from the deceleration control section start position to the target stop position, the distance x from the deceleration control section start position to the current position, It is represented by an index that defines the shape of the waveform pattern of the target speed VC, and the index that defines the shape of the waveform pattern of the target speed VC is set according to the medium. As a feature, even with this configuration, the change in the waveform of the target speed VC becomes gradual, so that high-precision can be achieved while maintaining stable motor behavior during deceleration control. It is possible to perform the control.
[0048]
One aspect of the motor control device according to the present invention generates and outputs a speed command signal for instructing the target speed VC based on the waveform pattern of the generated target speed VC, and decelerates the paper feed motor of the printer to be controlled. A motor control device including speed command means for performing deceleration control in a control section, wherein a waveform pattern of the target speed VC includes a maximum speed Vmax of the paper feed motor and a deceleration control section start position to a target stop position. Expressed by the deceleration control section distance N, the distance x from the start position of the deceleration control section to the current position, and an index that defines the shape of the waveform pattern of the target speed VC, the waveform pattern of the target speed VC The index that defines the shape of the paper is set according to at least the value of the maximum speed Vmax of the paper feed motor. Since the change of the target speed VC of the waveform is moderated, it is possible to perform highly accurate control while maintaining the behavior of the motor stable at the time of the deceleration control.
Another aspect of the motor control device according to the present invention generates and outputs a speed command signal for instructing the target speed VC based on the waveform pattern of the generated target speed VC, and outputs the paper feed motor of the printer to be controlled. The motor control device includes speed command means for performing deceleration control in a deceleration control section, and the waveform pattern of the target speed VC includes a maximum speed Vmax of the paper feed motor and a deceleration control section start position to a target stop position. The deceleration control section distance N, the distance x from the deceleration control section start position to the current position, and an index that defines the shape of the waveform pattern of the target speed VC, and the waveform of the target speed VC The index that defines the shape of the pattern is set according to the media, and even with this configuration, the change in the waveform of the target speed VC is reduced. Since, it is possible to perform highly accurate control while maintaining the behavior of the motor stable at the time of the deceleration control.
[0049]
The waveform pattern of the target speed VC is given by the following formula: VC = Vmax {1− (x / N) ^a } (a is the above index as an arbitrary constant)
It may be represented by
[0050]
The deceleration control can be applied to either one or both of the forward drive direction deceleration control and the reverse direction drive deceleration control of the motor.
[0053]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of a motor control method and a control device according to the present invention will be described with reference to the drawings.
[0054]
The motor control method and the control device according to the present invention are configured such that the maximum speed of the motor to be controlled is Vmax, the deceleration control section distance from the deceleration control section start position to the target stop position is N, and the deceleration control section start position to the current position X in the deceleration control section, the following expression VC = Vmax {1- (x / N) ^a } (a is an arbitrary constant) (1)
A waveform pattern of the target speed VC expressed by the following is generated, and motor deceleration control is performed based on the waveform pattern of the target speed VC. This is the greatest feature of the motor control method and control device according to the present invention.
[0055]
FIG. 1 is a graph showing an example of a waveform pattern of a target speed VC generated by the motor control method and control device according to the present invention.
[0056]
In the example of the graph shown in FIG. 1, the deceleration control section distance N = 576 (the number of encoder pulses), the maximum motor speed Vmax = 6 (inch per second), and the constant a = 3. The waveform pattern of the target speed VC (a = 3) and the waveform pattern of the target speed VC (a = 10) with a constant a = 10 are shown.
[0057]
As can be seen from the graph of FIG. 1, when the value of the arbitrary constant a is smaller, the change in the waveform of the target speed VC becomes gradual. Therefore, it becomes easier to stabilize the behavior of the motor, and highly accurate control is performed. It becomes possible.
[0058]
FIG. 2 is a graph showing examples of waveform patterns of the target speed VC and the current speed VP of the motor generated by the motor control method and control device according to the present invention.
[0059]
In the example of the graph shown in FIG. 2, the deceleration control section distance N = 576 (the number of encoder pulses), the maximum motor speed Vmax = 0.8 (inch per second), and the constant a = 5 is a waveform pattern of the target speed VC (a = 5) and the current speed VP (a = 5) of the motor, and the target speed VC (a = 15) and the current speed VP (a = 15) of the constant a = 15. The waveform pattern of 15) is shown.
[0060]
From the graph of FIG. 2, when the value of the arbitrary constant a is small, the change in the waveform of the target speed VC is more gradual, the amplitude of the current speed VP of the motor relative to the target speed VC is small, and the motor behavior is stabilized. I understand that Therefore, when the value of the arbitrary constant a is small, it is easier to stabilize the behavior of the motor, and it is possible to perform highly accurate control.
[0061]
However, the value of the arbitrary constant a can be set for each deceleration control section in accordance with the maximum motor speed Vmax, the deceleration control section distance N, and the time value of the deceleration control section. For example, when trying to shorten the time of the deceleration control section, the value of the constant a is increased within a range where the behavior of the motor can be maintained stably, and when performing more accurate control, the value of the constant a is set. It is better to make it smaller. Alternatively, the value of the arbitrary constant a may be set to a constant value when it has been found by simulation or the like that the behavior of the motor can be maintained.
[0062]
Further, referring to FIGS. 2 and 10, when comparing the motor control method and the control device according to the present invention with respect to the amplitude of the current speed VP of the motor with respect to the target speed VC, the present invention has the above-mentioned amplitude. small. Therefore, with the motor control method and control device according to the present invention, it is possible to perform highly accurate control while maintaining stable behavior of the motor.
[0063]
The motor control device according to the present invention generates a waveform pattern of the target speed VC as described above, and generates and outputs a speed command signal for instructing the target speed VC based on the waveform pattern of the target speed VC. Thus, the motor is decelerated and controlled. Alternatively, a waveform pattern table of the target speed VC is set in advance in an ASIC, PROM, RAM, EEPROM or other storage means, and one or a plurality of waveform patterns are stored, and the waveform pattern table is referred to and the target A speed command means for generating and outputting a speed command signal for commanding the speed VC may be provided.
[0064]
The motor control method and control device according to the present invention can be applied to any control method and control device of a DC motor, a stepping motor, and an AC motor.
[0065]
When the motor to be controlled is a DC motor, the hardware configuration of the motor control device according to the present invention is substantially the same as the configuration of the DC unit 6 which is a conventional motor control device, but the speed reduction The difference is that the control is possible. In this case, the motor control device according to the present invention generates a waveform pattern of the target speed VC as described above in the acceleration control unit 6m shown in FIG. It is configured to generate and output a speed command signal for commanding to supply a current corresponding to the waveform pattern to the motor. Alternatively, the waveform pattern table of the target speed VC is set in advance in the ASIC 20, PROM 21, RAM 22, EEPROM 23 or other storage means in FIG. 3 to store one or a plurality of waveform patterns, and the acceleration shown in FIG. The control unit 6m may generate and output a speed command signal for instructing the target speed VC with reference to the waveform pattern table. In this case, the acceleration control unit 6m refers to the waveform pattern table by accessing any one of the ASIC 20, the PROM 21, the RAM 22 and the EEPROM 23 via the CPU 16. When the waveform pattern table is set in other storage means, the acceleration control unit 6m may directly access the storage means and refer to the waveform pattern table.
[0066]
When the motor control method and the control device according to the present invention are applied to a printer, the motor to be controlled may be a paper feed motor or a carriage motor. In this case, for example, the constant a can be set according to the ink weight, the medium, and the usage frequency of the printer.
[0067]
In addition, the deceleration control by the motor control method and the control device according to the present invention can be applied to both when the motor rotates in the forward direction and when the motor rotates in the reverse direction. Assuming that the maximum motor speed Vmax in the expression (1) representing the target speed VC is a value including the sign corresponding to the driving direction, the expression (1) is applied as it is also in the case of the deceleration control of the reverse direction driving. Can do.
[0068]
【The invention's effect】
One aspect of the motor control method according to the present invention is a motor control method for performing deceleration control in a deceleration control section of a paper feed motor of a printer to be controlled, based on a waveform pattern of a generated target speed VC. The waveform pattern of the speed VC includes the maximum speed Vmax of the paper feed motor, the deceleration control section distance N from the deceleration control section start position to the target stop position, the distance x from the deceleration control section start position to the current position, and the above The index that defines the shape of the waveform pattern of the target speed VC, and the index that defines the shape of the waveform pattern of the target speed VC corresponds to at least the value of the maximum speed Vmax of the paper feed motor. Therefore, the change in the waveform of the target speed VC becomes gradual, and the high-precision is maintained while maintaining the stable behavior of the motor during deceleration control. It is possible to perform the control.
Another aspect of the motor control method according to the present invention is a motor control method for performing deceleration control in a deceleration control section of a paper feed motor of a printer to be controlled, based on a waveform pattern of a generated target speed VC. The waveform pattern of the target speed VC includes the maximum speed Vmax of the paper feed motor, the deceleration control section distance N from the deceleration control section start position to the target stop position, the distance x from the deceleration control section start position to the current position, Since the index that defines the shape of the waveform pattern of the target speed VC and the index that defines the shape of the waveform pattern of the target speed VC are set according to the media, The change in the waveform of the target speed VC becomes gradual, and high-precision control can be performed while maintaining stable motor behavior during deceleration control.
[0069]
One aspect of the motor control device according to the present invention generates and outputs a speed command signal for instructing the target speed VC based on the waveform pattern of the generated target speed VC, and decelerates the paper feed motor of the printer to be controlled. A motor control device including speed command means for performing deceleration control in a control section, wherein a waveform pattern of the target speed VC includes a maximum speed Vmax of the paper feed motor and a deceleration control section start position to a target stop position. Expressed by the deceleration control section distance N, the distance x from the start position of the deceleration control section to the current position, and an index that defines the shape of the waveform pattern of the target speed VC, the waveform pattern of the target speed VC The index that defines the shape of the sheet is set according to at least the value of the maximum speed Vmax of the paper feed motor. Ya or becomes, it is possible to perform highly accurate control while maintaining the behavior of the motor stable at the time of the deceleration control.
One aspect of the motor control device according to the present invention generates and outputs a speed command signal for instructing the target speed VC based on the waveform pattern of the generated target speed VC, and decelerates the paper feed motor of the printer to be controlled. A motor control device including speed command means for performing deceleration control in a control section, wherein a waveform pattern of the target speed VC includes a maximum speed Vmax of the paper feed motor and a deceleration control section start position to a target stop position. Expressed by the deceleration control section distance N, the distance x from the start position of the deceleration control section to the current position, and an index that defines the shape of the waveform pattern of the target speed VC, the waveform pattern of the target speed VC Since the index that defines the shape of the target is set according to the media, the change in the waveform of the target speed VC becomes gradual, and the mode during deceleration control is reduced. It is possible to perform highly accurate control while maintaining other behavior stabilizing the.
[Brief description of the drawings]
FIG. 1 is a graph showing an example of a waveform pattern of a target speed VC generated by a motor control method and control apparatus according to the present invention.
FIG. 2 is a graph showing examples of waveform patterns of a target speed VC and a motor current speed VP generated by the motor control method and control device according to the present invention.
FIG. 3 is a block diagram showing a schematic configuration of the ink jet printer.
FIG. 4 is a perspective view showing a configuration around a carriage 3 of an ink jet printer.
FIG. 5 is an explanatory diagram schematically showing a configuration of a linear encoder 11 attached to a carriage 3;
FIG. 6 is a timing chart showing waveforms of two output signals of the encoder 11 during normal rotation and reverse rotation of the CR motor.
FIG. 7 is a perspective view showing portions related to paper feed and paper detection.
FIG. 8 is a block diagram showing a configuration of a DC unit 6 which is a conventional DC motor control device.
FIG. 9 is a graph showing the motor current and motor speed of the CR motor 4 controlled by the DC unit 6;
FIG. 10 is a graph showing a target speed and a current speed in the vicinity of a target stop position in control by a conventional DC motor control method and control device.
[Explanation of symbols]
1 Paper feed motor (PF motor)
2 Paper feed driver 3 Carriage 4 Carriage motor (CR motor)
5 Carriage motor driver (CR motor driver)
6 DC unit 6a Position calculator 6b Subtractor 6c Target speed calculator 6d Speed calculator 6e Subtractor 6f Proportional element 6g Integration element 6h Differentiation element 6j D / A converter 7 Pump motor 8 Pump motor driver 9 Recording head 10 Head driver 11 Linear encoder 12 Code plate 13 Encoder (rotary encoder)
15 Paper detection sensor 16 CPU
17 Timer IC
18 Host computer 19 Interface unit 20 ASIC
21 PROM
22 RAM
23 EEPROM
25 Platen 30 Pulley 31 Timing belt 32 Carriage motor guide member 34 Ink cartridge 35 Capping device 36 Pump unit 37 Cap 50 Recording paper

Claims (10)

A motor control method for performing deceleration control in a deceleration control section of a paper feed motor of a printer to be controlled based on a waveform pattern of a generated target speed VC,
The waveform pattern of the target speed VC includes the maximum speed Vmax of the paper feed motor, the deceleration control section distance N from the deceleration control section start position to the target stop position, and the distance x from the deceleration control section start position to the current position. , And an index that defines the shape of the waveform pattern of the target speed VC,
The motor control method according to claim 1, wherein the index defining the shape of the waveform pattern of the target speed VC is set in accordance with at least the value of the maximum speed Vmax of the paper feed motor. A motor control method for performing deceleration control in a deceleration control section of a paper feed motor of a printer to be controlled based on a waveform pattern of a generated target speed VC,
The waveform pattern of the target speed VC includes the maximum speed Vmax of the paper feed motor, the deceleration control section distance N from the deceleration control section start position to the target stop position, and the distance x from the deceleration control section start position to the current position. , And an index that defines the shape of the waveform pattern of the target speed VC,
The motor control method according to claim 1, wherein the index defining the shape of the waveform pattern of the target speed VC is set according to a medium. The waveform pattern of the target speed VC is given by the following formula: VC = Vmax {1− (x / N) ^a } (a is the exponent as an arbitrary constant)
The motor control method according to claim 1, wherein the motor control method is represented by:   The motor control method according to claim 1, wherein the deceleration control is deceleration control for driving the motor in a normal rotation direction.   The motor control method according to claim 1, wherein the deceleration control is a deceleration control for driving the motor in a reverse direction. Speed command means for generating and outputting a speed command signal for instructing the target speed VC based on the generated waveform pattern of the target speed VC and performing deceleration control in the deceleration control section of the paper feed motor of the printer to be controlled is provided. A motor control device,
The waveform pattern of the target speed VC includes the maximum speed Vmax of the paper feed motor, the deceleration control section distance N from the deceleration control section start position to the target stop position, and the distance x from the deceleration control section start position to the current position. , And an index that defines the shape of the waveform pattern of the target speed VC,
The motor control apparatus according to claim 1, wherein the index defining the shape of the waveform pattern of the target speed VC is set according to at least the value of the maximum speed Vmax of the paper feed motor. Speed command means for generating and outputting a speed command signal for instructing the target speed VC based on the generated waveform pattern of the target speed VC and performing deceleration control in the deceleration control section of the paper feed motor of the printer to be controlled is provided. A motor control device,
The waveform pattern of the target speed VC includes the maximum speed Vmax of the paper feed motor, the deceleration control section distance N from the deceleration control section start position to the target stop position, and the distance x from the deceleration control section start position to the current position. , And an index that defines the shape of the waveform pattern of the target speed VC,
The motor control apparatus according to claim 1, wherein the index defining the shape of the waveform pattern of the target speed VC is set according to a medium. The waveform pattern of the target speed VC is given by the following formula: VC = Vmax {1− (x / N) ^a } (a is the exponent as an arbitrary constant)
The motor control device according to claim 6, wherein the motor control device is represented by:   9. The motor control device according to claim 6, wherein the deceleration control is deceleration control for driving the motor in a normal direction.   The motor control device according to claim 6, wherein the deceleration control is a deceleration control of a reverse drive of the motor.

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