JP6962044B2 - Motor control device, image forming device and electronic equipment - Google Patents

Description

The present invention relates to a motor control device, an image forming device and an electronic device.

Patent Document 1 discloses a mechanism for switching between speed feedback operation and speed open loop operation as a motor control technology. Specifically, when the motor is in a high speed or high load state, it is controlled by the speed open loop. Has been proposed.

Japanese Unexamined Patent Publication No. 2003-219681

By the way, in one device, position control and speed control with respect to the rotation of the motor may be used together. In such a case, if the rotation speed of the motor is to be rapidly increased or decreased, the position control becomes more difficult than the speed control. Therefore, it is necessary to implement dedicated hardware or software for more precise position control. Must be.

The present invention is compared to a device capable of performing both position control and speed control with respect to the rotation of the motor, in which position control can be performed even when the rotation speed of the motor is suddenly changed. The purpose is to realize motor control with a simpler configuration.

The motor control device according to claim 1 has a first control that controls a position with respect to the rotation of the motor while controlling the speed with respect to the rotation of the motor, and a motor control device with respect to the rotation of the motor without performing position control with respect to the rotation of the motor. It is a switching unit that switches between the second control that performs only speed control, and when the rotation of the motor is accelerated or decelerated, the second control is compared with the case where the motor is rotating at a constant speed. The switching unit is provided with a switching unit that switches to the second control when the acceleration or deceleration in the rotation of the motor exceeds the threshold value, and the threshold value is set from the start of acceleration of the rotation of the motor. It fluctuates according to the time of.

The motor control device according to claim 2 has a first control that controls the speed with respect to the rotation of the motor and a position control with respect to the rotation of the motor, and a motor control device with respect to the rotation of the motor without performing position control with respect to the rotation of the motor. It is a switching unit that switches between the second control that performs only speed control, and when the rotation of the motor is accelerated or decelerated, the second control is compared with the case where the motor is rotating at a constant speed. When the acceleration or deceleration in the rotation of the motor exceeds the threshold value, the switching unit switches to the second control, and when the acceleration or the deceleration exceeds the threshold value, the switching unit is provided. Does not perform the error processing even when the deviation of the rotation position at the time of position control with respect to the rotation of the motor exceeds the value which is the judgment standard of the error processing .

The motor control device according to claim 3 has a first control that controls a position with respect to the rotation of the motor while controlling the speed with respect to the rotation of the motor, and a motor control device with respect to the rotation of the motor without performing position control with respect to the rotation of the motor. It is a switching unit that switches between the second control that performs only speed control, and when the rotation of the motor is accelerated or decelerated, the second control is compared with the case where the motor is rotating at a constant speed. When the speed indicated to the motor is given by the pulse cycle when performing servo control according to the result of detecting the rotation position of the motor, the switching unit is provided with a switching unit for rotating the motor. The acceleration is specified from a period of at least two consecutive pulses at the start of acceleration.

The motor control device according to claim 4 has a first control that controls a position with respect to the rotation of the motor while controlling the speed with respect to the rotation of the motor, and a motor control device with respect to the rotation of the motor without performing position control with respect to the rotation of the motor. It is a switching unit that switches between the second control that performs only speed control, and when the rotation of the motor is accelerated or decelerated, the second control is compared with the case where the motor is rotating at a constant speed. The switching unit is provided with a switching unit for switching to, and the switching unit is compared with the case where the motor starts rotating from the stopped state and the case where the motor stops from the rotating state when the motor accelerates or decelerates during rotation. Then, the control is switched to the second control.

The motor control device according to claim 5, in the structure according to claim 5, wherein the switching unit, when the acceleration of the cycle of successive least 2 pulses when the motor starts to rotate from a stopped state is large, the The second control is switched to as compared with the case where the acceleration of the period is small.

The image forming apparatus according to claim 6 includes the motor control device according to any one of claims 1 to 5, and a drive mechanism including a motor.

The electronic device according to claim 7 includes the motor control device according to any one of claims 1 to 75, and a drive mechanism including a motor.

According to the inventions according to claims 1, 6 and 7, even when the rotation speed of the motor is suddenly changed in a device capable of performing both position control and speed control with respect to the rotation of the motor. Motor control is realized with a simpler configuration than a configuration in which position control can be performed, and a threshold value according to the time from the start of acceleration of motor rotation can be used.

According to the invention of claim 2 , in a device capable of performing both position control and speed control with respect to the rotation of the motor, the position control is performed even when the rotation speed of the motor is suddenly changed. Motor control is realized with a simpler configuration than the configuration obtained, and error processing does not have to be performed when position control is not performed.

According to the invention of claim 3 , in a device capable of performing both position control and speed control with respect to the rotation of the motor, the position control is performed even when the rotation speed of the motor is suddenly changed. Motor control is realized with a simpler configuration than the configuration obtained, and the speed instructed to the motor when performing servo control according to the result of detecting the rotation position of the motor is given by the pulse cycle. In some cases, the period of the pulse identifies the acceleration in the rotation of the motor.

According to the invention of claim 4 , in a device capable of performing both position control and speed control with respect to the rotation of the motor, the position control is performed even when the rotation speed of the motor is suddenly changed. The motor control is realized with a simpler configuration than the configuration obtained, and is switched to the second control when the motor starts to rotate from the stopped state and when the motor stops from the rotating state.

According to the invention of claim 5 , in a device capable of performing both position control and speed control with respect to the rotation of the motor, the position control is performed even when the rotation speed of the motor is suddenly changed. Motor control is realized with a simpler configuration than the configuration obtained, and the acceleration in the rotation of the motor is specified by a continuous at least pulse cycle when the motor starts to rotate from a stopped state.

It is a figure which shows an example of the structure of the electronic device which concerns on 1st Embodiment. It is a figure which shows an example of the structure of the drive part which concerns on 1st Embodiment. It is a timing chart which shows the state of each signal in 1st Embodiment. It is a timing chart which shows the state of each signal in 1st Embodiment. It is a figure which shows an example of the structure of the motor drive system in the drive part which concerns on 2nd Embodiment. It is a timing chart which shows the state of each signal in 2nd Embodiment. It is a timing chart which shows the state of each signal in 2nd Embodiment. It is a figure which shows an example of the structure of the motor drive system in the drive part which concerns on 3rd Embodiment. It is a timing chart which shows the state of each signal in 3rd Embodiment. It is a timing chart which shows the state of each signal in 3rd Embodiment. It is a figure which shows an example of the structure of the motor drive system in the drive part which concerns on 4th Embodiment. It is a timing chart which shows the state of each signal in 4th Embodiment. It is a timing chart which shows the state of each signal in 4th Embodiment.

Each embodiment of the present invention will be described.
<First Embodiment>
FIG. 1 is a diagram showing a hardware configuration of an electronic device 1 according to a first embodiment of the present invention. The electronic device 1 is an image forming apparatus having a plurality of functions such as printing, copying, scanning, and facsimile, and is an example of the electronic device according to the present invention. The electronic device 1 includes a control unit 11, a communication unit 12, a storage unit 13, a UI (User Interface) unit 14, and an image forming unit 15.

The control unit 11 includes a computing device such as a CPU (Central Processing Unit) and a storage device such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and controls the entire electronic device 1. .. The ROM stores the firmware that describes the procedure for booting the hardware and the OS (Operating System). The RAM is used to store data when the CPU executes an operation. The communication unit 12 includes a communication I / F (Interface) for communicating with an external communication device. The communication unit 12 is connected to a communication line such as a LAN (Local Area Network). The storage unit 13 is provided with, for example, a semiconductor memory or a hard disk storage device, and stores software (programs) for realizing various functions in addition to the OS. The UI unit 14 includes a display unit and an operation unit. The display unit includes, for example, a liquid crystal display device, and displays a display screen for the user to operate the electronic device 1. The operation unit is provided with, for example, a touch panel provided so as to cover the display screen of the display unit, a plurality of keys provided at positions adjacent to the display screen, and the like, and accepts operations performed by the user and responds to the operations. The signal is output to the control unit 11. The control unit 11 controls the electronic device 1 according to the content of this operation.

The image forming unit 15 forms an image on paper as a recording medium by an image forming method such as an electrophotographic method or an inkjet method. The image forming unit 15 includes a driving unit 16 including a driving mechanism including a motor used for, for example, a transport system of a recording medium or a driving system of an image forming engine, and a motor control device for controlling the driving thereof.

FIG. 2 is a diagram illustrating the configuration of the drive unit 16 according to the first embodiment. The configuration shown in FIG. 2 constitutes an example of the switching unit of the present invention. The drive unit 16 includes a motor 101, a driver 102 that drives the motor 101, an encoder 103 that generates a pulse according to the rotation state of the motor 101, and whether or not the acceleration or deceleration in the rotation of the motor 101 exceeds the threshold value. A determination unit 104 for determining the above, a position control unit 105 for controlling the position with respect to the rotation of the motor 101, and a speed control unit 106 for controlling the speed with respect to the rotation of the motor 101 are included at least. In the drive unit 16, servo control is performed according to the result of detecting the rotation position of the motor 101. The motor 101 is, for example, a brushless motor, but the motor in the present invention may be any type, regardless of the type. An example of the motor control device according to the present invention is configured by configurations other than the motor 101 shown in FIG. 2, that is, a driver 102, an encoder 103, a determination unit 104, a position control unit 105, and a speed control unit 106.

In FIG. 2, the motor ON signal changes from the low (L) level to the high (H) level, and the rotation speed of the motor 101 is given by the command pulse signal, so that the position control unit 105 and the speed control unit 106 control the motor 101. Is started. The position control unit 105 includes a command pulse signal that specifies the rotation speed of the motor 101, an A-phase signal output from the encoder 103, a B-phase signal output from the encoder 103 that is 1/4 cycle out of sync with the A-phase signal, and A speed correction signal for correcting the rotation speed of the motor 101 is output to the speed control unit 106 according to the CW / CCW (motor rotation direction) signal determined based on these A-phase signals and B-phase signals. This controls the position of the motor 101. The speed control unit 106 drives (rotates) to specify the rotation direction of the motor 101 according to the command pulse signal, the A phase signal, the B phase signal, the CW / CCW signal, and the speed correction signal input from the position control unit 105. ) The speed of the motor 101 is controlled by outputting a direction signal and a PWM (Pulse Width Modulation) signal for supplying power to the motor 101 to the driver 102.

The determination unit 104 obtains the acceleration and deceleration at the rotational speed of the motor 101 based on the command pulse signal, and determines whether or not the acceleration or deceleration exceeds the threshold value stored by the determination unit 104. Here, the threshold value for the acceleration at the rotational speed of the motor 101 is a positive value, and when the acceleration exceeds the threshold value, it means that the absolute value of the acceleration is larger than the absolute value of the threshold value. Further, the threshold value for deceleration at the rotation speed of the motor 101 is a negative value, and when the deceleration exceeds the threshold value, it means that the absolute value of deceleration is larger than the absolute value of the threshold value.

As shown in FIG. 3A, when the motor ON signal changes from the low level to the high level and the acceleration or deceleration does not exceed the threshold value after the motor 101 starts rotating from the stopped state, the determination unit 104 sets the low level. The position control enable signal of is output to the position control unit 105. The position control unit 105 controls the position of the motor 101 during the period when the low-level position control enable signal is supplied. This is because it is sufficiently possible to control the position so that the acceleration or deceleration does not exceed the threshold value and follows a relatively gradual change in speed. In this way, when the rotation of the motor 101 is at a constant speed so that the change in the rotation speed of the motor 101 falls within a certain range, the first control for performing the speed control as well as the position control with respect to the rotation of the motor 101 is performed. Will be done. This first control will also be performed when the motor 101 stops from the rotating state.

On the other hand, as shown in FIG. 3B, when the acceleration or deceleration exceeds the threshold value after the motor ON signal changes from the low level to the high level and the motor 101 starts rotating from the stopped state, at least the motor 101 Until the rotation speed becomes 0 once, the determination unit 104 outputs a high-level position control enable signal to the position control unit 105. The position control unit 105 does not perform position control on the motor 101 during the period when the high level position control enable signal is supplied. In this case, the speed correction signal is not output from the position control unit 105 to the speed control unit 106, and the rotation of the motor 101 is controlled only by the speed control by the speed control unit 106. In this way, when accelerating or decelerating the rotation of the motor 101, a second control is performed in which only the speed control is performed without performing the position control with respect to the rotation of the motor 101.

Dedicated hardware or software is required to control the position following a sudden change in the rotational speed of the motor 101. In the first embodiment, in such a case, the rotation of the motor 101 is controlled only by the speed control without intentionally performing the position control. Therefore, as compared with the case where the dedicated hardware or software as described above is mounted and the position control and the speed control are performed at the same time, precise control cannot be performed, but a certain degree of accurate motor control is possible.

According to the first embodiment, when there is a sudden speed change such that the acceleration or deceleration of the command speed with respect to the motor 101 exceeds the threshold value, it is switched so that only the speed control is performed without performing the position control. That is, when the motor 101 starts rotating from the stopped state and when the motor 101 stops from the rotating state, the control can be switched to the second control as compared with the case where the motor 101 accelerates or decelerates during rotation. become. As a result, it is not necessary to implement hardware and software for precise position control, and the configuration is simple.

<Second Embodiment>
The configuration of the second embodiment of the present invention is the same as that of the first embodiment, and the types and operations of signals are different. FIG. 4 is a diagram illustrating the configuration of the drive unit 16 according to the second embodiment. In FIG. 4, the same components as those in FIG. 2 are designated by the same reference numerals. In the drive unit 16 shown in FIG. 4, servo control is performed according to the result of detecting the rotation position of the motor 101, and the first embodiment is that the speed instructed to the motor 101 is given by the pulse cycle of the command pulse signal. Different from the form.

The determination unit 104 identifies the acceleration of the rotation speed of the motor 101 from a period of at least two consecutive pulses at the start of acceleration of the rotation of the motor 101 after the motor ON signal changes from a low level to a high level. Then, the determination unit 104 determines whether or not the specified acceleration exceeds the threshold value stored by the determination unit 104.

As shown in FIG. 5A, when the acceleration specified from the pulse period does not exceed the threshold value after the motor ON signal changes from low level to high level, the low level position control enable signal is positioned from the determination unit 104. It is output to the control unit 105. The position control unit 105 controls the position of the motor 101 during the period when the low-level position control enable signal is supplied.

On the other hand, as shown in FIG. 5B, when the acceleration specified from the pulse period exceeds the threshold value after the motor ON signal changes from the low level to the high level, at least the rotation speed of the motor 101 becomes 0 once. Up to, the determination unit 104 outputs a high-level position control enable signal to the position control unit 105. The position control unit 105 does not perform position control on the motor 101 during the period when the high level position control enable signal is supplied. In this case, the speed correction signal is not output from the position control unit 105 to the speed control unit 106, and the rotation of the motor 101 is controlled only by the speed control by the speed control unit 106. Although the above is an example of control focusing on acceleration, deceleration is also controlled with respect to the rotation of the motor 101 based on the same concept.

According to the second embodiment, when there is a sudden speed change such that the acceleration or deceleration of the command speed with respect to the motor 101 exceeds the threshold value, the speed control is switched to only the speed control without performing the position control. As a result, it is not necessary to implement hardware and software for precise position control, and the configuration is simple.

<Third Embodiment>
The configuration of the third embodiment of the present invention is the same as that of the first embodiment or the second embodiment, and the operation thereof is different. FIG. 6 is a diagram illustrating the configuration of the drive unit 16 according to the third embodiment. In FIG. 6, the same components as those in FIGS. 2 and 4 are designated by the same reference numerals. The drive unit 16 shown in FIG. 6 is different from the first embodiment and the second embodiment in that the threshold value stored by the determination unit 104 changes according to the time from the start of acceleration of the rotation of the motor 101. Therefore, the determination unit 104 stores a function of a threshold value that fluctuates according to the passage of time after the speed commanded to the motor 101 exceeds 0.

The determination unit 104 identifies the speed commanded to the motor 101 after the motor ON signal changes from the low level to the high level, and the speed corresponds to the elapsed time from the start of acceleration of the rotational speed of the motor 101. Determine if the threshold is exceeded.

As shown in FIG. 7A, when the speed commanded to the motor 101 does not exceed the threshold value (dotted line portion in the figure) corresponding to the elapsed time from the start of acceleration of the rotational speed of the motor 101, the determination unit. A low-level position control enable signal is output from 104 to the position control unit 105. The position control unit 105 controls the position of the motor 101 during the period when the low-level position control enable signal is supplied.

On the other hand, as shown in FIG. 7B, when the speed commanded to the motor 101 exceeds the threshold value (dotted line portion in the figure) corresponding to the elapsed time from the start of acceleration of the rotational speed of the motor 101, At least until the rotation speed of the motor 101 becomes 0, a high-level position control enable signal is output from the determination unit 104 to the position control unit 105. The position control unit 105 does not perform position control on the motor 101 during the period when the high level position control enable signal is supplied. In this case, the speed correction signal is not output from the position control unit 105 to the speed control unit 106, and the rotation of the motor 101 is controlled only by the speed control by the speed control unit 106. Although the above is an example of control focusing on acceleration, deceleration is also controlled with respect to the rotation of the motor 101 based on the same concept.

According to the third embodiment, when there is a sudden speed change such that the acceleration or deceleration of the command speed with respect to the motor 101 exceeds the threshold value, the speed control is switched to only the speed control without performing the position control. As a result, it is not necessary to implement hardware and software for precise position control, and the configuration is simple. Furthermore, for sudden speed changes immediately after the start of acceleration, it is possible to switch to speed control only without performing position control, but when sufficient time has passed from the start of acceleration, similar sudden speed changes (however, the timing) If there is a speed change that does not exceed the threshold value in, position control and speed control are used together.

<Fourth Embodiment>
The configuration of the fourth embodiment of the present invention is the same as that of the first embodiment, the second embodiment, or the third embodiment, and the operation thereof is different. FIG. 8 is a diagram illustrating the configuration of the drive unit 16 according to the fourth embodiment. In FIG. 8, the same components as those in FIGS. 2, 4 and 6 are designated by the same reference numerals. In the drive unit 16 shown in FIG. 8, when the determination unit 104 determines that the acceleration or deceleration of the rotation speed of the motor 1-1 exceeds the threshold value, the rotation position shifts during position control with respect to the rotation of the motor 101. Does not perform the error processing even if the value exceeds the value that is the criterion for error processing. The error processing referred to here is processing that allows the user to know that an error has occurred, such as stopping control of the motor 101 or outputting an error message.

As shown in FIG. 9A, if the acceleration or deceleration of the motor 101 does not exceed the threshold value after the motor ON signal changes from the low level to the high level, the low level position control enable signal is positioned from the determination unit 104. It is output to the control unit 105. In the position control unit 105, during the period when the low-level position control enable signal is supplied, the position deviation specified according to the output from the encoder 103 is a value that serves as a criterion for error processing (dotted line in the figure). If the value does not exceed, error processing is not performed, but if the value (dotted line in the figure) that is the criterion for error processing is exceeded, error processing is performed.

On the other hand, as shown in FIG. 9B, when the acceleration or deceleration of the motor 101 exceeds the threshold value after the motor ON signal changes from the low level to the high level, at least the rotation speed of the motor 101 becomes 0 once. Up to, the determination unit 104 outputs a high-level position control enable signal to the position control unit 105. The position control unit 105 does not perform position control on the motor 101 during the period when the high level position control enable signal is supplied. In the position control unit 105, during the period when the high-level position control enable signal is supplied, the position deviation specified according to the output from the encoder 103 is a value that serves as a criterion for error processing (dotted line in the figure). No error handling is performed regardless of whether the value is not exceeded or exceeded.

According to the fourth embodiment, when there is a sudden speed change such that the acceleration or deceleration of the command speed with respect to the motor 101 exceeds the threshold value, the control is switched to the speed control only control without performing the position control. As a result, it is not necessary to implement hardware and software for precise position control, and the configuration is simple. Further, when the position control is not performed, the error processing according to the position shift is unnecessary, so that this can be prevented.

1 ... Electronic equipment, 11 ... Control unit, 12 ... Communication unit, 13 ... Storage unit, 14 ... UI unit, 15 ... Image forming unit, 16 ... Drive unit, 101 ... Motor, 102 ... Driver, 103 ... Encoder, 104 ... Judgment unit, 105 ... position control unit, 106 ... speed control unit.

Claims (7)

The first control that controls the position with respect to the rotation of the motor while controlling the speed with respect to the rotation of the motor, and the second control that only controls the speed with respect to the rotation of the motor without performing the position control with respect to the rotation of the motor. A switching unit for switching to the second control when the motor is accelerating or decelerating, as compared with the case where the motor is rotating at a constant speed.
When the acceleration or deceleration in the rotation of the motor exceeds the threshold value, the switching unit switches to the second control.
A motor control device, characterized in that the threshold value fluctuates according to a time from the start of acceleration of rotation of the motor. The first control that controls the position with respect to the rotation of the motor while controlling the speed with respect to the rotation of the motor, and the second control that only controls the speed with respect to the rotation of the motor without performing the position control with respect to the rotation of the motor. A switching unit for switching to the second control when the motor is accelerating or decelerating, as compared with the case where the motor is rotating at a constant speed.
When the acceleration or deceleration in the rotation of the motor exceeds the threshold value, the switching unit switches to the second control.
When the acceleration or the deceleration exceeds the threshold value, the error processing is performed even if the deviation of the rotation position at the time of position control with respect to the rotation of the motor exceeds the value which is the judgment standard of the error processing. A motor control device characterized by the absence. A first control that controls the position relative to the rotation of the motor while the speed control for the rotation of the motors, the second performing only the speed control for the rotation of the motor without performing the position control relative to the rotation of the motor It is a switching unit for switching between control and, and includes a switching unit for switching to the second control when accelerating or decelerating the rotation of the motor, as compared with the case where the motor is rotating at a constant speed.
When the speed instructed to the motor is given by the pulse period when performing servo control according to the result of detecting the rotation position of the motor, the switching unit is at least continuous at the start of acceleration of the rotation of the motor. A motor control device characterized in that acceleration is specified from a period of two pulses. A first control that controls the position relative to the rotation of the motor while the speed control for the rotation of the motors, the second performing only the speed control for the rotation of the motor without performing the position control relative to the rotation of the motor It is a switching unit for switching between control and, and includes a switching unit for switching to the second control when accelerating or decelerating the rotation of the motor, as compared with the case where the motor is rotating at a constant speed.
The switching unit has the second control as compared with the case where the motor starts to rotate from the stopped state and when the motor stops from the rotating state, as compared with the case where the motor accelerates or decelerates during rotation. A motor control device characterized by switching to. Before SL switching unit, when the acceleration of the cycle of successive least 2 pulses when the motor starts to rotate from a stopped state is large, as compared to when the acceleration of the cycle is small, switched to the second control The motor control device according to claim 4. A motor control device according to any one of請Motomeko 1-5,
An image forming apparatus including a drive mechanism including a motor. A motor control device according to any one of請Motomeko 1-5,
An electronic device characterized by having a drive mechanism including a motor.

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