JP6668862B2 - Control device, motor drive device, sheet transport device, and image forming device - Google Patents

Description

  The present invention relates to a control device, a motor driving device, a sheet conveying device, and an image forming device.

  Conventionally, there is a known technology that realizes energy saving, resource saving, and miniaturization while maintaining the same position and speed driving accuracy as a stepping motor by mounting an optical encoder on an inner rotor type brushless DC motor and driving it by feedback control. Have been. In this technology, since an optical encoder is used, there is a restriction that defects easily occur due to paper dust, dust, ink mist, and the like, and that the upper limit of the operating temperature of the optical encoder becomes the upper limit of the temperature when the motor is used. Is done. An encoderless motor drive device that solves this problem and reduces costs by developing a pseudo encoder signal from a Hall signal output from a Hall element and performing motor control.

  For example, in Patent Document 1, a motor control is performed by generating a two-channel encoder equivalent signal (pseudo encoder signal) based on a magnetic pole phase signal (Hall signal) output from a Hall element and indicating a magnetic pole phase of a motor. Techniques are disclosed.

  However, the pseudo encoder signal generated from the Hall element includes the number of magnet poles of the motor due to variations in the positions of the Hall element and the magnet, deviations in the relative positions between the Hall elements, and variations in the sensing points of the Hall element itself. , A periodic fluctuation (periodic noise) of the signal related to the above occurs. As a result, there is a problem that the motor rotation unevenness and noise are caused.

In order to solve the above-described problems and achieve the object, the present invention converts a magnetic pole phase signal representing a magnetic pole phase of a motor, represents a rotation amount and a rotating direction of an output shaft of the motor, and outputs the magnetic pole phase signal. A control device for controlling a motor drive unit including a rotation position detection unit that outputs a rotation position detection signal having a high resolution to the motor drive unit, based on the rotation position detection signal and a target signal. Comprises a control unit for controlling the power to be supplied to the motor, wherein the control unit responds to a specific frequency according to the number of poles indicating the number of magnetic poles of the motor and the number of rotations of the motor. There viewing including the control gain setting unit for setting a control gain to decrease, the specific frequency, the number of poles the motor p, when the target rotational speed of the motor was N, p / 2 × N / is an integer multiple become frequency of 60

  ADVANTAGE OF THE INVENTION According to this invention, the generation | occurrence | production of the rotation unevenness and noise of a motor in the structure which generates a pseudo encoder signal from a Hall signal and performs motor control can be suppressed.

FIG. 1 is a diagram illustrating an example of the configuration of the image forming apparatus. FIG. 2 is a partially enlarged view of the process cartridge. FIG. 3 is a diagram illustrating an example of a configuration of the document conveying device. FIG. 4 is a diagram illustrating an example of a hardware configuration of the motor driving device. FIG. 5 is a diagram illustrating an example of a detailed configuration of the position / speed following control unit. FIG. 6 is a diagram illustrating the frequency characteristic of the loop transfer function. FIG. 7 is a diagram illustrating a complementary sensitivity function when feedback control is performed using the loop transfer function of FIG. FIG. 8 is a diagram illustrating an example of the notch filter. FIG. 9 is a diagram illustrating an example of a notch filter. FIG. 10 is a diagram illustrating a complementary sensitivity function when the loop transfer function of FIG. 6 and the notch filter of FIG. 9 are combined. FIG. 11 is a flowchart illustrating an example of a process performed by the control gain setting unit. FIG. 12 is a diagram illustrating an example of a detailed configuration of a position / speed following control unit according to the second embodiment. FIG. 13 is a diagram illustrating an example of a hardware configuration of the motor drive device according to the second embodiment. FIG. 14 is a diagram illustrating an example of a hardware configuration of a motor drive device according to a modification. FIG. 15 is a diagram illustrating an example of a detailed configuration of a position / speed following control unit according to a modification. FIG. 16 is a diagram for explaining a mechanism for measuring the encoder pulse speed. FIG. 17 is a diagram for describing pulses output by the encoder. FIG. 18 is a diagram for explaining the FIR filter. FIG. 19 is a diagram for explaining the effect of performing the moving averaging process. FIG. 20 is a diagram illustrating an example in which the magnitude of the rotation speed unevenness is measured for each frequency. FIG. 21 is a diagram illustrating an example in which the 6th, 12th, and 18th order components are attenuated using three notch filters. FIG. 22 is a diagram illustrating an example of the complementary sensitivity function. FIG. 23 is a diagram illustrating an example in which the attenuation shape of the notch filter is set such that the responsiveness of the sixth, twelfth, and eighteenth components and the respective peripheral frequencies is simultaneously reduced. FIG. 24 is a diagram illustrating an example of the complementary sensitivity function. FIG. 25 is a diagram illustrating an example of a configuration of a driving unit. FIG. 26 is a diagram illustrating an example of the configuration of the driving unit. FIG. 27 is a diagram illustrating an example of a configuration of a driving unit. FIG. 28 is a diagram illustrating an example of a detailed configuration of the position / velocity tracking control unit according to the modified example. FIG. 29 is a diagram illustrating an example of a hardware configuration of a motor drive device according to a modification.

  Hereinafter, embodiments of a control device, a motor drive device, a sheet conveying device, and an image forming device according to the present invention will be described in detail with reference to the accompanying drawings.

(First embodiment)
FIG. 1 is a diagram illustrating an example of a configuration of an image forming apparatus 100 according to the present embodiment. As shown in FIG. 1, the image forming apparatus 100 generates yellow, magenta, cyan, and black (hereinafter, referred to as “Y”, “M”, “C”, and “K”) toner images, respectively. Are provided with the four process cartridges 6Y, 6M, 6C and 6K.

These process cartridges 6Y, 6M, 6C, and 6K use different colors of Y toner, M toner, C toner, and K toner as image forming agents, but have the same configuration except for the above. Each of the process cartridges 6Y, 6M, 6C, and 6K is detachable from the main body of the image forming apparatus 100, so that consumable parts can be replaced at a time, and are replaced when the life is reached.

Since the process cartridges 6Y, 6M, 6C, and 6K have the same configuration, the schematic configuration of the image forming apparatus 100 will be described using the process cartridge 6Y for generating a Y toner image as an example. FIG. 2 is a partially enlarged view in the vicinity of the process cartridge 6Y shown in FIG. In the following, reference is made to FIG. 2 along with reference to FIG.

  As shown in FIG. 2, the process cartridge 6Y includes a photosensitive drum 1Y as a latent image carrier, a drum cleaning device 2Y, a charge removing device (not shown), a charging device 4Y, a developing device 5Y, and the like.

  The charging device 4Y is a device that uniformly charges the surface of the photosensitive drum 1Y. The photoreceptor drum 1Y is rotated clockwise in the figure by a drum rotation mechanism, and the charging device 4Y uniformly charges the surface of the photoreceptor drum 1Y by rotating the photoreceptor drum 1Y.

The uniformly charged surface of the photoreceptor drum 1Y is exposed and scanned by the laser light L to carry an electrostatic latent image for Y. The electrostatic latent image on the surface of the photosensitive drum 1Y is developed into a Y toner image by a developing device 5Y using Y toner. Then, the Y toner image on the surface of the photosensitive drum 1Y is intermediately transferred onto the intermediate transfer belt 8. This step is called an intermediate transfer step.

The drum cleaning device 2Y is a device that removes toner remaining on the surface of the photosensitive drum 1Y after the intermediate transfer process. Further, the charge removing device is a device for removing charges remaining on the photosensitive drum 1Y after cleaning. By this charge elimination, the surface of the photoreceptor drum 1Y is initialized to prepare for the next image formation.

In the other process cartridges 6M, 6C, and 6K, similarly, the M toner image, the C toner image, and the K toner image are formed on the photosensitive drums 1M, 1C, and 1K, respectively. Is transferred intermediately.

  As shown in FIG. 1, an exposure device 7 is provided below each of the process cartridges 6Y, 6M, 6C, and 6K.

  The exposure device 7 is a device for forming an electrostatic latent image on the surface of each of the photosensitive drums 1Y, 1M, 1C, and 1K described above. The exposure device 7 irradiates the photosensitive drums 1Y, 1M, 1C, and 1K of the process cartridges 6Y, 6M, 6C, and 6K with a laser beam L emitted based on information of an image to be formed. The surfaces of the drums 1Y, 1M, 1C and 1K are exposed. By this exposure, a Y electrostatic latent image, an M electrostatic latent image, a C electrostatic latent image, and a K electrostatic latent image are formed on the surfaces of the photosensitive drums 1Y, 1M, 1C, and 1K, respectively.

  The exposure device 7 irradiates the photosensitive drum with a laser beam L emitted from a light source via a plurality of optical lenses and mirrors while scanning the laser beam L with a polygon mirror rotated by a motor, thereby obtaining a desired electrostatic charge. Latent images are formed on the surfaces of the photosensitive drums 1Y, 1M, 1C, and 1K, respectively.

  As shown in FIG. 1, a sheet feeding unit is provided below the exposure device 7 in the figure. The paper feeding means includes a paper storage cassette 26, a paper feed roller 27 incorporated in the paper storage cassette 26, a registration roller pair 28, and the like.

  The paper storage cassette 26 stores a plurality of sheets of paper 99 as a recording material in an overlapping manner, and the paper feed roller 27 is in contact with the uppermost paper 99. When the paper feed roller 27 is rotated counterclockwise in the figure by the drive mechanism, the uppermost paper sheet 99 is fed between the rollers of the registration roller pair 28.

  The registration roller pair 28 rotates both rollers to pinch the sheet 99, but stops the rotation immediately after pinching. Then, the sheet 99 is sent out to a later-described secondary transfer nip at an appropriate timing.

  On the other hand, as shown in FIG. 1, above the process cartridges 6Y, 6M, 6C, and 6K, an intermediate transfer unit 15 for endlessly moving the intermediate transfer belt 8 as an intermediate transfer member while stretching the intermediate transfer belt 8 is provided. Have been.

  The intermediate transfer unit 15 includes the belt cleaning device 10 and the like in addition to the intermediate transfer belt 8. Further, four primary transfer bias rollers 9Y, 9M, 9C, 9K, a secondary transfer backup roller 12, a cleaning backup roller 13, a tension roller 14, and the like are also provided.

  The intermediate transfer belt 8 is endlessly moved counterclockwise in the figure by the rotation of at least one of the rollers while being stretched by the seven rollers. The primary transfer bias rollers 9Y, 9M, 9C, and 9K sandwich the intermediate transfer belt 8 between the photosensitive drums 1Y, 1M, 1C, and 1K, respectively, to form primary transfer nips. That is, the primary transfer bias rollers 9Y, 9M, 9C, and 9K are disposed on the opposite sides of the photosensitive drums 1Y, 1M, 1C, and 1K via the intermediate transfer belt 8, and the toner is Applies a transfer bias of reverse polarity (for example, positive polarity).

  The rollers except for the primary transfer bias rollers 9Y, 9M, 9C and 9K are all electrically grounded. The intermediate transfer belt 8 sequentially passes through the primary transfer nips for Y, M, C, and K as the endless movement of the intermediate transfer belt 8 causes the Y toner image on each of the photosensitive drums 1Y, 1M, 1C, and 1K. , M toner image, C toner image, and K toner image are superimposed and primary transferred. As a result, a four-color superimposed toner image (hereinafter, referred to as a “four-color toner image”) is formed on the intermediate transfer belt 8.

  Further, the secondary transfer backup roller 12 forms a secondary transfer nip by sandwiching the intermediate transfer belt 8 between the secondary transfer roller 19 and the secondary transfer roller 19. The four-color toner image formed on the intermediate transfer belt 8 is transferred to the sheet 99 at the secondary transfer nip. Then, combined with the white color of the paper 99, a full-color toner image is formed.

  On the intermediate transfer belt 8 after passing through the secondary transfer nip, untransferred toner that has not been transferred onto the sheet 99 adheres. The transfer residual toner is cleaned by the belt cleaning device 10. In the secondary transfer nip, the paper 99 is sandwiched between the intermediate transfer belt 8 and the secondary transfer roller 19, which move in the forward direction, and is conveyed in the direction opposite to the registration roller pair 28 side.

  The paper 99 sent out from the secondary transfer nip is affected by heat and pressure when passing between the rollers of the fixing unit 20 as a detachable unit with respect to the main body of the image forming apparatus 100, and the surface of the paper 99 is full-colored. The toner image is fixed. Thereafter, the sheet 99 is discharged to the outside of the image forming apparatus 100 through the space between the pair of discharge rollers 29.

  A stack unit 30 is formed on the upper surface of the housing of the main body of the image forming apparatus 100, and the sheets 99 discharged outside the apparatus by the discharge roller pair 29 are sequentially stacked on the stack unit 30.

  As shown in FIG. 1, a bottle supporting portion 31 is provided between the intermediate transfer unit 15 and the stack portion 30 located above the intermediate transfer unit 15. In the bottle support portion 31, toner bottles 32Y, 32M, 32C, and 32K are set as agent containers for accommodating the respective color toners.

  The toners of the respective colors in the toner bottles 32Y, 32M, 32C, and 32K are appropriately supplied to the developing devices of the process cartridges 6Y, 6M, 6C, and 6K by the toner supply devices. Each of the toner bottles 32Y, 32M, 32C, 32K is detachable from the main body of the image forming apparatus 100 independently of the process cartridges 6Y, 6M, 6C, 6K.

  FIG. 3 is a diagram illustrating an example of a configuration of a document conveying device 101 (an example of a sheet conveying device) used in addition to the image forming apparatus 100 described above. The document feeder 101 is disposed above the image forming apparatus 100 shown in FIG. 1, and the image forming apparatus 100 and the document feeder 101 function integrally as a copy device, an MFP, and the like. Therefore, the image forming apparatus 100 to which the document feeder 101 is added is also referred to as the image forming apparatus 100 without distinction.

  The document feeder 101 shown in FIG. 3 is applied to a read document processor (hereinafter referred to as an ADF) that transports a document to be read to a fixed reading device and reads an image while transporting the document at a predetermined speed. Things.

  The document feeder 101 includes a document setting unit A for setting a bundle of documents to be read, a separation feeding unit B for separating and feeding documents one by one from the set document bundle, and abutting alignment of the fed documents. Then, a registration section C for pulling out and feeding the aligned document, a turn section D for turning the fed document to feed the document surface toward the reading side (downward), and a front surface image of the document under the contact glass. A first reading / conveying unit E for performing further reading, a second reading / conveying unit F for reading the back side image of the read original, a paper discharging unit G for discharging the original whose front and back sides have been read out of the machine, A stack unit H for stacking and holding originals is provided. The document conveying device 101 includes a pickup motor, a sheet feeding motor, a reading motor, a sheet discharging motor, a bottom plate raising motor, and the like as driving sources for driving the above-described conveying operation.

  The document table 42 includes a movable document table 43, on which sheets 99 to be read are set. The paper 99 is set on the original table 42 with the original surface facing upward. The document table 42 includes a side guide, and is located in a direction perpendicular to the conveying direction in the width direction of the paper 99. The set sheet 99 is detected by the set filler 44 and the set sensor 45 and transmitted to the main body control unit.

  Document length detection sensors 70 and 71 (a reflection type sensor or an actuator type sensor capable of detecting even 99 sheets of paper) are arranged on the document table 42. Document length detection sensors 70 and 71 determine the length of the document in the transport direction. At this time, the document length detection sensors 70 and 71 are arranged so as to be able to determine at least whether the document size is vertical or horizontal.

  The movable document table 43 can be moved up and down in the directions of arrows a and b by a bottom plate raising motor. When the set filler 44 and the set sensor 45 detect that a document has been set on the movable document table 43, the bottom plate raising motor is rotated forward to move the movable document table 43 so that the top surface of the document bundle contacts the pickup roller 47. To raise. In FIG. 3, the rising state is shown by a solid line.

  The pick-up roller 47 is moved in the directions of arrows c and d by a cam mechanism by a pick-up motor, and at the same time, the movable document table 43 is raised and pushed by the upper surface of the document on the movable document table 43 and rises in the c direction. Allows the upper limit to be detected.

  The paper feed belt 49 is driven in the paper feeding direction by the normal rotation of the paper feeding motor, and the reverse roller 50 is driven to rotate in the direction opposite to the paper feeding by the normal rotation of the paper feeding motor, so that the uppermost document and the document below it are moved. It is configured so that only the top document can be fed separately.

  The reverse roller 50 comes into contact with the paper feed belt 49 at a predetermined pressure, and when two or more documents enter between the paper feed belt 49 and the reverse roller 50, rotate in the clockwise direction which is the original driving direction, and It works to push back the original and prevent double feeding of the original.

  The document separated into one sheet by the action of the paper feed belt 49 and the reverse roller 50 is further fed by the paper feed belt 49, the leading edge of which is detected by the abutment sensor 51, and further abuts against the pull-out roller 52 which is stopped. . Thereafter, the paper feed motor is fed by a predetermined amount and a predetermined distance from the detection of the abutment sensor 51, and as a result, the paper feed motor is stopped in a state where the pull-out roller 52 is pressed with a predetermined amount of bending. As a result, the driving of the paper feed belt 49 is stopped.

  At this time, the pickup roller 47 is retracted from the upper surface of the document by rotating the pickup motor, and the document is fed only by the conveying force of the paper feed belt 49, so that the leading end of the document enters the nip between the pair of upper and lower rollers of the pullout roller 52. Then, the tip alignment (skew correction) is performed.

  The pull-out roller 52 has a skew correction function, and also conveys the skew-corrected document after separation to the intermediate roller 54, and is driven by the reverse rotation of the sheet feeding motor. When the paper feed motor rotates in the reverse direction, the pull-out roller 52 and the intermediate roller 54 are driven, but the pickup roller 47 and the paper feed belt 49 are not driven.

  A plurality of document width sensors 53 are arranged in the depth direction, and detect the size of the document conveyed by the pull-out roller 52 in the width direction orthogonal to the conveyance direction. Further, the length of the document in the transport direction is detected from the motor pulse by reading the trailing end of the document with the abutment sensor 51.

  When a document is conveyed from the registration unit C to the turn unit D by driving the pull-out roller 52 and the intermediate roller 54, the conveyance speed in the registration unit C is set to be higher than the conveyance speed in the first reading conveyance unit E. The processing time for sending the original to the reading unit is shortened.

  When the leading edge of the document is detected by the reading entrance sensor 55, the reading motor is driven to rotate forward to drive the reading entrance roller 56, the reading exit roller 63, and the CIS exit roller 67.

  When the leading edge of the document is detected by the registration sensor 57, the document is decelerated over a predetermined transport distance, temporarily stopped just before the reading position 60 where the first reading unit (not shown) is arranged, and is controlled by the main body control unit. A stop signal is transmitted via / F.

  Subsequently, when a reading start signal is received from the main body control unit, the stopped document is transported at an increased speed so as to rise to a predetermined transport speed until the leading edge of the document reaches the reading position.

  At the timing when the leading edge of the document detected by the pulse count of the reading motor reaches the reading unit, a gate signal indicating the effective image area in the sub-scanning direction on the first surface is sent to the main body control unit. The message is transmitted until is lost.

  In the case of reading a single-sided original, the original that has passed through the first reading and conveying unit E is conveyed to the paper discharge unit G via the second reading unit 65. At this time, when the leading edge of the document is detected by the paper ejection sensor 64, the paper ejection motor is driven to rotate forward to rotate the paper ejection roller 68 counterclockwise.

  The discharge motor driving speed is reduced just before the trailing edge of the document comes out of the nip between the upper and lower roller pairs of the discharge roller 68 based on the discharge motor pulse count from the detection of the leading edge of the document by the discharge sensor 64. The document discharged onto the tray 69 is controlled so as not to fly out.

  The surface of the second reading unit 65 is provided with a coating member that has been subjected to a coating process in order to prevent a vertical streak indicating an image defect caused by the transfer of the paste attached to the document onto the reading line. I have.

  This coating member is formed by applying a coating material having a dirt decomposition function or a hydrophilic coating material to the reading surface of the second reading unit 65. Known materials can be used for these coating materials.

  FIG. 4 is a diagram illustrating an example of a hardware configuration (circuit configuration) of the motor driving device 210 that drives the motor 200 according to the present embodiment. The motor 200 can be used, for example, for driving the paper feed roller 27 and the like of the main body of the image forming apparatus 100 shown in FIG. Further, for example, it can be used for driving the reading entrance roller 56, the reading exit roller 63, the CIS exit roller 67, etc. of the document feeder 101 shown in FIG. These rollers (transport rollers) are an example of a transport member for transporting a sheet (in this example, paper, but not limited to).

  The motor 200 of the present embodiment is a three-phase drive brushless DC motor. That is, the motor 200 has no commutator, and is a motor in which the direction of the magnetic pole is switched by switching the direct current supplied from the motor driving device 210 by the FET (an example of a semiconductor switch) 201. The motor 200 includes a Hall element 202 that outputs a magnetic pole phase signal indicating the magnetic pole phase of the motor 200 (sometimes referred to as a “Hall signal”). In this example, the motor 200 is a three-phase drive, and thus includes three Hall elements 202 for feeding back a magnetic pole phase signal.

  As shown in FIG. 4, the motor driving device 210 includes a motor driving unit 220 that supplies electric power to the motor 200, and a control device 230 that controls the motor driving unit 220.

  First, the motor drive unit 220 will be described. As shown in FIG. 4, the motor drive unit 220 includes a power supply unit 221 and a rotation position detection unit 222.

  The power supply unit 221 supplies power to the motor 200 under the control of the control device 230. More specifically, the power supply unit 221 supplies power to the motor 200 in accordance with a control signal (a control signal instructing a PWM output, a rotation direction, a start, a stop, a brake, and the like) supplied from the control device 230.

  The rotation position detection unit 222 converts a magnetic pole phase signal representing the magnetic pole of the motor 200 to indicate the rotation amount and the rotation direction of the output shaft of the motor 200, and outputs a rotation position detection signal having a high resolution with respect to the magnetic pole phase signal. Output. More specifically, the rotation position detection unit 222 generates a signal indicating the rotation position of the output shaft of the motor 200 from the Hall signal (magnetic pole phase signal) obtained from the Hall element 202. This signal is a signal equivalent to a 2-channel encoder signal when a rotary encoder is provided on the output shaft of the motor 200 (hereinafter, may be referred to as an “encoder equivalent signal”). The rotational position detection unit 222 can generate a two-channel encoder equivalent signal using, for example, a technique disclosed in Japanese Patent Application Laid-Open No. 2015-19563.

  Next, the control device 230 will be described. As illustrated in FIG. 4, the control device 230 includes a control unit 231. The control unit 231 controls the motor driving unit 220 based on the encoder equivalent signal (rotational position detection signal) output by the rotation position detection unit 222 of the motor driving unit 220 and the target signal output by the external target signal generation unit 240. Controls the power to be supplied to the motor 200.

  As shown in FIG. 4, the control unit 231 includes a motor position / speed calculation unit 232, a target position / speed calculation unit 233, and a position / speed follow-up control unit 234. In the present embodiment, the motor position / speed calculation unit 232, the target position / speed calculation unit 233, and the position / speed follow-up control unit 234 are configured by dedicated hardware circuits (for example, a semiconductor integrated circuit). However, the present invention is not limited to this, and can be realized by software, for example. For example, the control device 230 has a hardware configuration equivalent to a computer device such as a CPU, a ROM, and a RAM. The CPU executes a program stored in the ROM or the like, so that the motor position / speed calculation unit 232, the target position The functions of the speed calculation unit 233 and the position / speed follow-up control unit 234 can also be realized.

  The motor position / speed calculation unit 232 receives the two-channel encoder equivalent signal (rotation position detection signal) from the rotation position detection unit 222 in the motor drive unit 220, and determines the rotation direction of the output shaft of the motor 200 and the number of movement pulses. get. Since the two-channel encoder equivalent signal is a two-channel signal having a constant phase difference (90 ° in this embodiment) whose output changes according to the rotation angle of the output shaft of the motor 200, the motor position / speed calculation unit 232 Using this phase difference, the rotation direction and the number of movement pulses of the output shaft of the motor 200 can be obtained. The motor position / speed calculation unit 232 derives the rotation position and rotation speed (rotation speed) of the motor 200 from the rotation direction and the number of movement pulses of the output shaft of the motor 200 and the time signal of the oscillator included in the control device 230. The rotation position information indicating the derived rotation position and the speed information indicating the derived rotation speed are transmitted to the position / speed following control unit 234.

  The target position / velocity calculation unit 233 acquires, from the external target signal generation unit 240, rotation direction information indicating the rotation direction of the motor 200 and pulse information indicating the number of movement pulses as target signals. Then, the target position / speed calculation unit 233 derives the target position and the target speed (target rotation speed) of the motor 200 from the obtained target signal and the time signal of the oscillator included in the control device 230, and calculates the target position. The target position information and the target speed information indicating the target speed are transmitted to the position / speed following control unit 234.

  The position / speed following control unit 234 controls the target position information and the target speed information acquired from the target position / speed calculation unit 233 to coincide with the rotational position information and the speed information acquired from the motor position / speed calculation unit 232, respectively. , A PWM signal instructing a PWM output. In the present embodiment, the position / velocity tracking control section 234 includes a control gain setting section 235. The control gain setting unit 235 sets the control gain so that the responsiveness of a specific frequency according to the number of poles indicating the number of magnetic poles of the motor and the target rotation speed of the motor based on the target signal is reduced. In this example, the control gain setting unit 235 acquires pole number information indicating the number of poles from a memory in the control device 230 or from the outside, and sets target speed information (indicating the target rotation speed) from the target position / speed calculation unit 233. Information). Then, a specific frequency corresponding to the number of poles indicated by the acquired pole number information and the target rotation speed indicated by the target speed information is determined. Specific contents will be described later.

  FIG. 5 is a diagram illustrating an example of a detailed configuration of the position / velocity tracking control unit 234. As shown in FIG. 5, the position / velocity tracking control unit 234 includes a comparison unit 251, a multiplication unit 252, a differentiation unit 253, a comparison unit 254, a PID calculation unit 255, a differentiation unit 256, and an addition unit 257. And a control gain setting unit 235 and a PWM signal generation unit 236.

  The comparison unit 251 receives the target position information input from the target position / speed calculation unit 233 (input at a cycle corresponding to a predetermined sampling frequency) and the input from the motor position / speed calculation unit 232 (input according to the predetermined sampling frequency). It generates position deviation information indicating a difference from the rotational position information input at a period, and outputs the generated position deviation information to the multiplication unit 252. The multiplication unit 252 multiplies the position deviation information input from the comparison unit 251 by a constant gain (P control), generates position feedback information (position FB), and outputs the generated position feedback information to the comparison unit 254. I do.

  The differentiator 253 differentiates the target position information input from the target position / velocity calculator 233 (input at a cycle corresponding to a predetermined sampling frequency) to generate position feedforward information (position FF). The generated position feedforward information is output to the comparing unit 254. In the example of FIG. 5, the speed information from the motor position / speed calculating unit 232 is also input to the comparing unit 254 (input at a cycle corresponding to a predetermined sampling frequency).

  Comparing section 254 subtracts the speed information input from motor position / speed calculating section 232 from the result of adding the position feedback information input from multiplying section 252 and the position feedforward information input from differentiating section 253. By doing so, speed deviation information indicating the speed deviation is generated, and the generated speed deviation information is output to the PID calculation unit 255. The PID calculation unit 255 performs PID calculation (P: proportional, I: integral, D: derivative) on the input speed deviation information, and performs speed feedback information (information indicating the acceleration of the motor 200, in other words, the motor (Which may be considered to be information representing the torque of 200) and outputs the generated speed feedback information (speed FB) to the adding unit 257.

  On the other hand, the differentiator 256 differentiates the target speed information input from the target position / speed calculator 233 to obtain speed feedforward information (information indicating the acceleration of the motor 200, in other words, information indicating the torque of the motor 200). Is generated, and the generated speed feedforward information (speed FF) is output to the adding unit 257.

  The adding unit 257 adds the input speed feedback information and the speed feedforward information to obtain a control deviation (in other words, a control deviation based on the target signal and the rotational position detection signal input to the control device 230). (Which can be considered to be present) is generated to generate motor control information. In this example, the motor control information obtained by the addition by the adding unit 257 can be considered to be information indicating an output command value (power command value) of the motor 200 for reducing the control deviation to zero. The adding unit 257 outputs the generated motor control information to the control gain setting unit 235.

  The control gain setting unit 235 performs a process of attenuating a component of a specific frequency (for example, a process of removing a component of a specific frequency) from the motor control information input from the adding unit 257. Specific contents will be described later. The motor control information processed by the control gain setting unit 235 is output to the PWM signal generation unit 236. The PWM signal generation unit 236 generates a signal (PWM signal) indicating a voltage for driving the motor 200 according to the motor control information input from the control gain setting unit 235, and outputs the generated PWM signal to the motor driving unit. Output to 220.

  Here, as in the present embodiment, in a configuration in which an encoder equivalent signal is generated based on a Hall signal output from the Hall element 202 and the motor 200 is driven without mounting an encoder, 3 The phases of the waveforms of the two Hall signals are shifted due to the displacement between the Hall elements 202. Since the Hall element 202 is a sensor for detecting the magnetic force of the motor magnet, for example, in a 12-pole motor 200 forming a combination of six pairs of NS, the wave has six cycles. As a result, in the three-phase, twelve-pole motor 200, the sixth, twelfth, eighteenth, and thirty-sixth frequency components when one rotation of the motor 200 is completed are caused by sensor noise (period variation of the encoder equivalent signal). Uneven rotation and noise occur.

  In the present embodiment, when the number of poles of the motor 200 is p and the target rotation speed is N, rotation unevenness due to sensor noise is remarkably generated at a frequency that is an integral multiple of p / 2 × N / 60. Focusing on, the control gain setting unit 235 sets the control gain so that the response at a specific frequency according to the number of poles indicating the number of magnetic poles of the motor and the target rotation speed (target speed) of the motor is reduced. Set (in other words, control is performed to attenuate the control gain for a specific frequency). More specifically, the control gain setting unit 235 sets the control gain so that the responsiveness of a frequency (specific frequency) that is an integral multiple of p / 2 × N / 60 is reduced. Thereby, it is possible to suppress the occurrence of rotation unevenness and noise caused by the sensor noise.

  As described above, the control gain setting unit 235 determines that the motor control information indicating the output command value of the motor 200 for reducing the control deviation to zero has a specific frequency (an integer multiple of p / 2 × N / 60 and (A frequency). That is, the control gain setting unit 235 variably sets a specific frequency according to the number of poles indicating the number of magnetic poles of the motor 200 and the target rotation speed of the motor 200, and sets the motor control input from the addition unit 257. Data processing is performed on the information by software to realize a function of a filter (notch filter) for attenuating a specific frequency component that has been set.

  Therefore, unlike the conventional analog PLL control, there is no need to provide an analog electronic circuit corresponding to each of a plurality of rotation speeds or a harness for selecting a gain for each of the plurality of rotation speeds. Complexity and cost increase can be suppressed. Although the control gain setting unit 235 of the present embodiment targets the motor control information input from the adding unit 257 for data processing, the target of data processing by the control gain setting unit 235 is not limited to this. . In short, the control gain setting unit 235 controls the control gain (the control device) such that the response at a specific frequency according to the number of poles indicating the number of magnetic poles of the motor and the target rotation speed (target speed) of the motor is reduced. (Which can be considered to be the ratio of input to output to 230).

  Here, the number of poles of the motor 200 is defined by the variable p. However, when the motor 200 is fixed, the number of poles is not changed. It may be incorporated in the calculation formula. Also, the notch filter (data processing for realizing the function of the notch filter) may target three orders of 6th order, 12th order, and 18th order that have a large rotation unevenness / noise contribution, and a lowpass after the 18th order. A method of attenuating by a filter (data processing that realizes the function of a low-pass filter) may be used. This is because an increase in the number of notch filters increases a load of calculation time. Further, when a notch filter is formed digitally, the notch may have a shape having a width because the frequency may deviate from a target frequency due to a digital error. Furthermore, the adaptive rotation speed of the notch filter may be applied to all rotation speeds depending on the rotation speed, or may be applied to a specific rotation speed. The setting of the attenuation rate of the notch filter can be arbitrarily made according to the corresponding frequency component. The required attenuation rate is determined from the rotation unevenness of each frequency component and the target rotation unevenness after attenuation, and is determined in consideration of the phase margin and the like.

  FIG. 6 is a diagram illustrating a frequency characteristic of a loop transfer function indicating a relationship between an input and an output to the control unit 231 when the control gain setting unit 235 is not provided. FIG. It is a figure showing the complementary sensitivity function when performing feedback control with a function. That is, FIG. 7 can be considered to be a diagram showing the responsiveness to the target value and the sensor noise. In this example, the crossover frequency (control band) indicating the frequency at which the absolute value of the loop transfer function is 1 (the ratio between the input and the output is 1, that is, the gain is 0) is 60 Hz, and the responsiveness is higher in the frequency band beyond that. It can be seen that is reduced. A method of reducing the responsiveness in a frequency band exceeding the crossover frequency by lowering the crossover frequency may be considered. However, this method causes deterioration of the target tracking performance and the responsiveness to a disturbance load. Therefore, the control gain setting unit 235 of the present embodiment does not change the crossover frequency, and sets the control gain so that the responsiveness of a specific frequency included in a frequency band equal to or lower than the crossover frequency is not reduced (in other words, the control gain is not changed). Then, the control gain for a specific frequency included in the frequency band equal to or less than the crossover frequency is set to 0 or more. Since the crossover frequency is determined by design according to the system requirement (target followability, disturbance suppression, etc.) of the control object, the crossover frequency may be 60 Hz or 30 Hz as a result.

  If the crossover frequency is close to the frequency of the notch filter, the phase turns, and the gain rises to 1 or more near the crossover frequency. Therefore, it is preferable that the frequency of the notch filter is 1.5 times or more the crossover frequency.

  In a paper conveyance using a plurality of motors 200 and a conveyance member (conveyance roller), it is general to set a common intersection frequency. Otherwise, the target followability during acceleration and deceleration will be different, and the paper between the independently driven transport rollers will bend or be pulled, causing noise and damage to the paper. Therefore, the crossover frequency is common. Note that, even if the crossing frequency is different, the deflection can be used because the deflection serves as a buffer that absorbs the difference in the target followability even if the crossing frequency is different in the transport between the rollers that transports in a state in which a certain deflection is formed.

  Here, as an example, it is assumed that the target rotation speed of the three-phase 12-pole motor 200 is 2400 rpm. In this case, since p = 12 and N = 2400, the specific frequency is a frequency that is an integral multiple of 12/2 × 2400/60 = 240 Hz, and the control gain setting unit 235 outputs the motor input from the adding unit 257. Data processing is performed on the control information so as to realize the function of a notch filter having characteristics as shown in FIG.

  Further, as another example, among specific frequencies (a plurality of frequencies that are integral multiples of p / 2 × N / 60) corresponding to the number of poles of the motor 200 and the target rotation speed of the motor 200, the responsiveness is reduced. A form in which designation information for designating (for example, an integer multiple of) a power frequency (particularly, a frequency in which rotation unevenness is remarkable) is prepared (for example, stored in a memory in the control device 230) is also conceivable. Can be In this case, the control gain setting unit 235 determines the number of poles of the motor 200 indicated by the pole number information acquired from the memory in the control device 230 or from the outside, and the target speed indicated by the target speed information acquired from the target position / speed calculation unit 233. One frequency may be selected as a specific frequency based on the (target rotation speed) and the above-mentioned designation information, and the control gain may be set so that the responsiveness of the selected frequency is reduced. The above-mentioned specification information may be information for specifying two or more frequencies as a specific frequency.

  For example, when p = 12, N = 2400, and the specification information specifies that the integral multiple is “2”, the control gain setting unit 235 determines that 12/2 × 2400/60 × 2. = 480 Hz is selected as a specific frequency, and the control gain is set so that the response of the selected specific frequency is reduced. In this case, the control gain setting unit 235 performs data processing on the motor control information input from the adding unit 257 so as to realize the function of a notch filter having characteristics as shown in FIG. The complementary sensitivity function in this case is represented as shown in FIG.

  FIG. 11 is a flowchart illustrating an example of a process performed by the control gain setting unit 235. The control gain setting unit 235 repeatedly executes the processing in FIG. 11 at a cycle according to a predetermined sampling frequency. As shown in FIG. 11, the control gain setting unit 235 acquires the target speed information input from the target position / speed calculation unit 233 (Step S1). Next, the control gain setting unit 235 acquires pole number information from a memory in the control device 230 or from outside (step S2). Next, the control gain setting unit 235 sets a specific frequency according to the target speed (target rotation speed) indicated by the target speed information acquired in step S1 and the number of poles indicated by the pole number information acquired in step S2. Set (step S3). The specific contents are as described above. Next, the control gain setting unit 235 performs a process of attenuating the component of the specific frequency set in step S3 on the motor control information input from the adding unit 257 (step S4), and performs the process. The motor control information is output to the subsequent PWM signal generation unit 235.

  As described above, in the present embodiment, the control in which the motor drive unit 220 controls the power to be supplied to the motor 200 based on the encoder equivalent signal (rotational position detection signal) obtained by converting the Hall signal and the target signal. The unit 231 is a control gain setting unit that sets a control gain so that the responsiveness of a specific frequency according to the number of poles indicating the number of magnetic poles of the motor and the target rotation speed of the motor 200 based on the target signal is reduced. 235. As described above, in the present embodiment, when the number of poles of the motor 200 is p and the target rotation speed is N, rotation unevenness due to sensor noise is generated at a frequency that is an integral multiple of p / 2 × N / 60. Paying attention to the fact that this occurs remarkably, the control gain is set so that the responsiveness of a frequency (specific frequency) that is an integral multiple of p / 2 × N / 60 is reduced. Thereby, it is possible to suppress the occurrence of rotation unevenness and noise caused by the sensor noise.

(Second embodiment)
Next, a second embodiment will be described. A description of portions common to the first embodiment will be appropriately omitted. The control gain setting unit 235 of the present embodiment reduces the responsiveness of a specific frequency in accordance with the number of poles indicating the number of magnetic poles of the motor 200 and the actual rotation speed (actual rotation speed) of the motor 200. Set the control gain so that More specifically, at a timing synchronized with the rotation position of the motor 200, the control gain setting unit 235 outputs the rotation position information indicating the rotation position of the motor 200 or the speed information (rotation speed) indicating the rotation speed of the motor 200 (described above). (The rotational position information or the speed information based on the rotational position detection signal of the above) is sampled, and the above-mentioned specific frequency component is reduced. The control gain setting unit 235 performs data processing by software to realize a function of a filter (notch filter) for attenuating a specific frequency component of the sampled rotational position information or speed information.

  As shown in FIG. 12, in the present embodiment, the rotation position information input from the motor position / speed calculation unit 232 (input at a cycle corresponding to a predetermined sampling frequency) is subjected to filter processing by the control gain setting unit 235. After that, it is input to the comparison unit 251. Further, in the present embodiment, the speed information input from the motor position / speed calculation unit 232 (input at a cycle corresponding to a predetermined sampling frequency) is subjected to the filtering process by the control gain setting unit 235, and then the comparison unit 254 Is input to In this example, as shown in FIG. 13, the control gain setting unit 235 is provided inside the position / velocity tracking control unit 234. However, the present invention is not limited to this. For example, as shown in FIG. The gain setting unit 235 may be provided outside the position / velocity tracking control unit 234.

  Further, as shown in FIG. 15, for example, the rotation position information input from the motor position / speed calculation unit 232 (input at a cycle corresponding to a predetermined sampling frequency) is directly input to the comparison unit 251, and the motor position / speed The speed information input from the calculation unit 232 (input at a cycle corresponding to a predetermined sampling frequency) may be input to the comparison unit 254 after the control gain setting unit 235 performs a filtering process.

  In short, the control gain setting unit 235 has a function of setting the control gain so that the response at a specific frequency is reduced according to the number of poles indicating the number of magnetic poles of the motor 200 and the rotation speed of the motor 200. What is necessary is just to have. The “rotation speed of the motor 200” may be the target rotation speed (target rotation speed) of the motor 200 based on the target signal as in the above-described first embodiment, or as described in the present embodiment. May be the actual rotation speed (actual rotation speed) of the motor 200 based on the rotation position detection signal.

FIG. 16 is a diagram for explaining a mechanism for measuring the speed of each encoder pulse. In the example of FIG. 16, the speed of the encoder pulse is measured by counting the number of finer reference clock signals with respect to the encoder pulse width. For example, it is assumed that the rotation speed is obtained when the motor 200 having an encoder of 100 pulses per rotation is rotating at N (rpm). Assuming that the reference clock f2 of the counter is 100 Mhz (reference time t2 = 1 / f2), the measured encoder 1 pulse time is t1, and the measured reference clock count is n, n = t1 / t2, N = 60 / (N × t2) × 1/100 (pulse) and t2 = 1 / f2 = 10 ⁻⁸ (s). Assuming that n = 60000 counts, t1 = n × t2 = 60000 × 1 / f2 = 0.0006 (s) and N = 60 / t1 / 100 = 1000 (rpm).

  FIG. 17 is a diagram for describing pulses output by the encoder. Usually, an encoder outputs two types of pulse trains. CH A and CH B. It is a feature of the encoder that the direction can be identified by having two channels. The interval from the rise of CH A to the next rise is a multiple of the basic pulse width of the encoder pulse. By using a combination of the rise and fall of CH A and CH B, the minimum pulse width (multiplied by 4) can be found. Although which one to use is arbitrary, for example, it is generally used to multiply by 1 during high-speed rotation, and to multiply by 4 during low-speed or stop / hold. Therefore, when the number of pulses in one rotation of the motor is used in the filter calculation, it is necessary to pay attention to whether the driving is performed by 1 or 4 times.

  Here, considering the encoder resolution n (pulses / period) and the number of poles p of the motor 200, it can be seen that rotation unevenness occurs at 1 / integer multiple of the tap number a = n / (p / 2). Independent of speed. Therefore, it is desirable to perform sampling at the timing of this number of taps. There is an advantage that the parameter of the gain control unit 235 can be designed with an arbitrary (independent) motor rotation speed. For example, in the case of a 12-pole motor, if p = 12 and the encoder resolution n = 360 pulses, N = 360 / (12/2) = 60 pulses, and the number of taps is 60 pulses, 30 pulses, and 15 pulse periods. It can be seen that the generated frequency corresponds to the sixth-order frequency component, the twelfth-order frequency component, and the eighteenth-order frequency component. Therefore, by configuring a digital filter that samples the position / velocity information at the timing using these tap numbers, it is possible to suppress rotation unevenness caused by sensor noise. The simplest example is to perform a moving average process every 60 pulses. Thereby, the sixth-order frequency component can be made zero regardless of the rotation speed. Similarly, by performing the moving averaging process every 30 pulses, the 12th-order frequency component can be attenuated. For example, if an FIR filter is used, it is possible to cope with the attenuation rate, the corresponding frequency, and a plurality of frequencies, and therefore, it is more suitable than the case of performing the simple moving average processing.

  FIG. 18 is a diagram for explaining the FIR filter of the digital filter. D represents data measured by a counter for each pulse, and represents a mechanism for processing every N pulses. Coefficients a0 to a (n-1) for weighting are set in each data. This coefficient is a value corresponding to 1 / N when N data are used, and is sequentially added N times.

  FIG. 19 is a diagram for explaining the effect of performing the moving averaging process. The example of FIG. 19 shows a case where the coefficient is 1 and N = 30. The original data is obtained by synthesizing a 6th-order frequency component that changes at a cycle of 60 pulses, a 12th-order frequency component that changes at a cycle of 30 pulses, and an 18th-order frequency component that changes at a cycle of 15 pulses, and has an offset waveform is there. On the other hand, the result of adding an averaging process for every 30 pulses to remove the 12th-order frequency component is shown. It can be seen that the twelfth order frequency component, which is the cause of the largest amplitude, is greatly attenuated by the effect of the averaging filter. By performing the filtering process on the rotational position information and the speed information after counting the encoder pulse, the data processing can be performed on the upstream side independent of the position / speed following control unit 234, so that the position / speed following can be performed. There is a merit that it can be set independently without being affected by the calculation speed of the control unit 234 or the memory capacity. By performing the filtering process on the information that is the basis of the speed control and the position control, the effect of the filtering process can be exerted on both the speed control and the position control.

(Third embodiment)
Next, a third embodiment will be described. FIG. 20 is an example in which the magnitude of the rotation speed unevenness when the FFT processing is performed on the pseudo encoder signal at a certain rotation speed is measured for each frequency. In addition to the frequency component (first-order component) of one rotation of the motor 200, the rotation unevenness in the sixth, twelfth, eighteenth, and twenty-fourth components is large. Since the motor 200 used for the measurement is a 12-pole motor having the number of poles p = 12, the rotation unevenness is large at an integral multiple of p / 2 as described in the first embodiment. In addition, a small rotation unevenness component is found at an integral multiple of the primary component. If these rotation unevennesses are stacked, they cause large rotation unevenness and noise.

  Therefore, in the present embodiment, the control gain setting unit 235 sets the control gain so that the responsiveness of the above-described specific frequency and the peripheral frequency of the specific frequency simultaneously decreases. Note that the control gain setting unit 235 performs a process (filter process) of simultaneously attenuating components of a specific frequency and a peripheral frequency on the motor control information, as in the first embodiment described above. Alternatively, similarly to the above-described second embodiment, a process (filter process) of simultaneously attenuating a component of a specific frequency and a peripheral frequency is performed on rotational position information or speed information based on a rotational position detection signal. It may be in a form.

  FIG. 21 is a diagram illustrating an example in which the 6th, 12th, and 18th order components are attenuated using three notch filters. In the example of FIG. 21, the eleventh and thirteenth components have almost no attenuation effect with respect to the twelfth order, the fifth and seventh order components have substantially no attenuation effect with respect to the sixth order, and the seventeenth and nineteenth components have eighteenth order. The next component has almost no damping effect. The complementary sensitivity function in this case is represented as shown in FIG.

  FIG. 23 is a diagram illustrating an example of a case where the attenuation shape of the notch filter is set so that the responsiveness of the sixth, twelfth, and eighteenth components and the respective peripheral frequencies is simultaneously reduced in the present embodiment. . In the example of FIG. 23, the notch filter for attenuating the 12th-order component has an attenuating shape with a wider skirt, thereby exerting an attenuation effect on a plurality of adjacent order components. In the example of FIG. 23, the attenuation shapes of the notch filter for attenuating the 6th-order component and the notch filter for attenuating the 18th-order component are not changed. However, the present invention is not limited to this. Of course. The example of FIG. 23 is an example of aiming for attenuation up to the ninth-order component in the skirt spread. That is, it is possible to aim at attenuation not only to the adjacent order but also to the distant order. It is possible to attenuate the ninth-order component more by expanding both the 6th and 12th-order notch filters. However, note that the phase margin decreases because the 6th-order component is close to the crossover frequency. is necessary. Therefore, as in the example of FIG. 23, the width of the attenuation shape of the notch filter close to the crossover frequency is narrowed (the skirt is narrowed), and the width of the attenuation shape of the far notch filter is widened (the width of the skirt is widened). The desired effect can be achieved. The complementary sensitivity function in this case is represented as shown in FIG. It can be seen that the final attenuation effect around the 12th order component is greater than in the example of FIG.

  Although the embodiment according to the present invention has been described above, the present invention is not limited to the above-described embodiment as it is, and can be embodied by modifying constituent elements without departing from the gist thereof at the stage of implementation. Various inventions can be formed by appropriately combining a plurality of components disclosed in the above-described embodiments. For example, some components may be deleted from all the components shown in the embodiment. Further, components of different embodiments may be appropriately combined.

  For example, as shown in FIG. 25, a structure in which the motor drive unit 220 is integrated with the motor substrate 204 may be employed. According to this structure, the influence of the noise of the Hall element 202 is reduced, and in the case of a multi-control device in which the control device 230 can drive a plurality of motors 200, the cost is reduced by consolidating the motors, and Control cost reduction per unit can be expected. Further, for example, as shown in FIG. 26, a structure in which the motor driving unit 220 and the control unit 231 (control device 230) are integrated with the motor substrate 204 may be used. According to this structure, handling of the motor 200 is facilitated, and convenience is improved. Further, as shown in FIG. 27, the motor drive unit 220 and the control device 230 may be integrated into the motor substrate 204 as a one-chip IC 250. Cost reduction can be expected by using one chip. When the motor output is small, the cost of the FET 201 shown in FIGS. 25 to 27 can be reduced by integrating it with an IC that functions as the motor drive unit 220.

  Further, as shown in FIG. 28, for example, a frequency component corresponding to a predetermined multiple frequency of the rotation speed of the motor 200 (outside the control unit 231) as shown in FIG. Component) may be provided in the form of a filter 252 for reducing the component. The pseudo encoder signal generated from the Hall element 202 relates to the position variation between the Hall element 202 and the magnet, the relative displacement between the Hall element 202, and the number of motor magnet poles caused by the variation in the sensing point of the Hall element 202 itself. The signal fluctuates periodically. Further, the amplitude varies greatly depending on the motor 200, and thus greatly differs. Therefore, even if the motor shaft is rotating with high accuracy, it is difficult to use this information for feature amount detection because the detected speed signal has a noise component. Therefore, by attenuating the above-mentioned specific frequency components of the speed information and the rotational position information from the pseudo encoder outside the control loop having the filter setting constraint condition, the noise component generated at a predetermined multiple frequency of the motor rotation speed is reduced. No speed information and no rotational position information can be obtained. The speed information and the rotational position information after the filter process (the filter process performed outside the control loop) by the filter 252 are output to the outside of the control loop as sensing information. Note that, as shown in FIG. 29, for example, various processes (operations for calculating a feature amount, etc.) corresponding to the application are performed on the speed information and the rotational position information after the filter process by the filter 252 is performed. And a processing / storing unit 253 for recording the result (may be recorded including information on the progress) may be further provided. In the example of FIG. 29, the processing / storing unit 253 detects a change in mechanical load or a change in position / velocity behavior of a partner mechanical mechanism driven by the motor 200 as a feature amount, determines a failure or the like, and determines a higher CPU (external CPU). To the target signal generation unit 240).

  The program executed by the control device 230 in the above-described embodiment is a file in an installable format or an executable format, such as a CD-ROM, a flexible disk (FD), a CD-R, a DVD (Digital Versatile Disk), It may be configured to be provided by being recorded on a computer-readable recording medium such as USB (Universal Serial Bus), or may be configured to be provided or distributed via a network such as the Internet. In addition, various programs may be configured to be provided by being incorporated in a ROM or the like in advance.

100 Image forming apparatus 200 Motor 201 FET
202 Hall element 204 Motor substrate 210 Motor driving device 220 Motor driving unit 221 Power supply unit 222 Rotational position detection unit 230 Control unit 231 Control unit 232 Motor position / speed calculation unit 233 Target position / speed calculation unit 234 Position / speed follow-up control unit 235 Control gain setting unit 236 PWM signal generation unit 240 Target signal generation unit 252 Filter 253 Processing / storage unit

JP 2015-19563 A

Claims (9)

A rotation position detection unit that converts a magnetic pole phase signal representing a magnetic pole phase of the motor, indicates a rotation amount and a rotation direction of an output shaft of the motor, and outputs a rotation position detection signal having a high resolution with respect to the magnetic pole phase signal. A control device for controlling a motor drive unit provided with:
The rotational position detection signal, based on the target signal, the motor drive unit includes a control unit that controls the power to be supplied to the motor,
The control unit includes:
And number of poles representing the number of poles of the motor, the rotation speed of the motor, in accordance with, viewed including the control gain setting unit which the responsiveness of the particular frequency setting control gains to decrease,
The specific frequency is a frequency that is an integral multiple of p / 2 × N / 60, where p is the number of poles of the motor and N is the target rotation speed of the motor.
Control device. The control gain setting unit sets the control gain so that the responsiveness of the specific frequency included in a frequency band equal to or less than a cross frequency of a loop transfer function representing a relationship between an input and an output to the control unit is not reduced. Do
The control device according to claim 1 . The rotation speed of the motor is a target rotation speed of the motor based on the target signal.
Control device according to claim 1 or 2. The rotation speed of the motor is the actual rotation speed of the motor,
Control device according to claim 1 or 2. The control gain setting unit performs a process of attenuating the component of the specific frequency with respect to motor control information for setting a control deviation based on the target signal and the rotational position detection signal to zero.
The control device according to any one of claims 1 to 3 . The motor control information is information representing an output command value of the motor.
The control device according to claim 5 . A motor drive device that includes a motor drive unit that supplies power to a motor, and a control device that controls the motor drive unit,
The motor drive unit includes:
A rotation position detection unit that converts a magnetic pole phase signal representing a magnetic pole phase of the motor, represents a rotation amount and a rotation direction of an output shaft of the motor, and outputs a rotation position detection signal with high resolution with respect to the magnetic pole phase signal ,
A power supply unit that supplies power to the motor,
The control device includes:
The rotational position detection signal, based on the target signal, the motor drive unit includes a control unit that controls the power to be supplied to the motor,
The control unit includes:
And the number of poles of the motor, in accordance with the rotational speed of the motor, saw including a control gain setting unit which the responsiveness of the particular frequency setting control gains to decrease,
The specific frequency is a frequency that is an integral multiple of p / 2 × N / 60, where p is the number of poles of the motor and N is the target rotation speed of the motor.
Motor drive. A conveying member for conveying the sheet,
A motor for driving the transport member,
A motor drive unit for supplying power to the motor,
And a control device for controlling the motor drive unit, comprising:
The motor drive unit includes:
A rotation position detection unit that converts a magnetic pole phase signal representing a magnetic pole phase of the motor, represents a rotation amount and a rotation direction of an output shaft of the motor, and outputs a rotation position detection signal having a high resolution with respect to the magnetic pole phase signal; ,
A power supply unit that supplies power to the motor,
The control device includes:
The rotational position detection signal, based on the target signal, the motor drive unit includes a control unit that controls the power to be supplied to the motor,
The control unit includes:
And the number of poles of the motor, in accordance with the rotational speed of the motor, saw including a control gain setting unit which the responsiveness of the particular frequency setting control gains to decrease,
The specific frequency is a frequency that is an integral multiple of p / 2 × N / 60, where p is the number of poles of the motor and N is the target rotation speed of the motor.
Sheet transport device. An image forming apparatus comprising: the sheet conveying device according to claim 8 ; and an image forming unit that forms an image on the sheet.

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