JPS6192198A - Drive controller for pulse motor - Google Patents

Abstract

PURPOSE:To more rapidly and accurately drive to rotate a pulse motor by driving at a low speed when the rotary amount of a movable element is less than the prescribed value, and at a high speed when more than the prescribed value. CONSTITUTION:The rotating position of a pulse motor is detected by a position detector 6. A comparison calculator 209 calculates the rotary amount of the motor required to move a movable element to a target position from the signal from an input unit having a keyboard 25, an encoder 100 and a buffer register 101 and a detection signal from the detector 6. A rotating direction designation signal 183 to a drive unit 216 of the motor, a drive pulse signal 218, and a deceleration designation signal 220 for designating the timing for applying a deceleration torque are output to a drive unit 216 of the motor with the calculated result.

Description

[Detailed description of the invention] [Industrial application field] The present invention relates to a drive control circuit for a pulse motor.

[Prior art 1] As is well known, a pulse motor is driven to rotate in steps in response to the arrival of an input pulse signal g.
The amount of rotation corresponds precisely to the number of pulses of the input pulse signal. There are two driving methods: an oven loop method in which a pulse signal is given without feedback of the rotational motion, and a closed loop method in which a pulse signal is given by sequentially feeding back the rotational motion.

In addition, as shown in Fig. 3, in order to drive a pulse motor by a predetermined amount of rotation, the pulse motor must be rotated in the start-to-adjustment rotation range from the original position dO to the target position θ0, as shown in Figure 3. It is desirable to take the following process: a→deceleration rotation region b→(constant low speed rotation region C)→stop.The constant low speed rotation is the speed suitable for stopping the pulse motor instantly, the so-called maximum speed. This is in response to the starting frequency matching signal, and theoretically this constant low speed rotation region C is unnecessary, but in reality, having a small region will provide better stopping characteristics for many platforms. In addition, if the branching point between the acceleration/subtraction rotation region a and the deceleration rotation region a exceeds 1/2 of the total stroke, it will be possible to drive to the target position θ0 more quickly. How much t exceeds 2 is a question related to the length of the entire stroke.In Fig. 3, 1.L vertical axis shows speed (dθ/dt), and horizontal axis shows distance 1111θ, respectively. It is something.

In order to perform such a rotational drive, from the start, pulse ``[-while detecting the position of the sun, give 11 human energy to gradually accelerate the rotation, and reach a turning point)'' is like a poet. It is sufficient to apply a deceleration torque, then release this deceleration torque just before the constant low speed is reached by this deceleration torque, continue the constant low speed rotation for some time, and then shift to a stop operation. The operation is obtained by continuing the state in which the final excitation signal is applied.

[Problems to be Solved by the Invention] Incidentally, in an actual pulse motor, when the motor stops, its rotor performs damped vibration with the target position as the boundary. and,
This damped oscillation has a significant effect on subsequent operations.

For example, as shown in FIG.
In a typewriter, in which the desired printing element 2 is rotated and placed at a printing position facing a printing hammer (not shown), and then the marking operation is performed by the printing hammer 21, the desired printing element 2 is placed in the printing position facing the printing hammer (not shown). It vibrated from side to side around the position, and when the printing hammer was used immediately to make a mark, the quality of the print was extremely poor. Therefore, in order to obtain good printing quality, it is necessary to wait for the damped vibration to end (required time of 1 Qmsec), resulting in a large loss of time and deterioration in the function of the typewriter.

Item 1 of "Invention 1" The present invention was made in order to solve the problems of conventional pulse motor drive control circuits. 1] The purpose is to provide a motor drive II+ control circuit.

Means for Solving the Problem 1 The pulse motor drive control circuit according to the present invention includes a position detection circuit for detecting the rotational position of the pulse motor, and a drive signal for driving the pulse motor. , a comparison calculation circuit calculates the rotation amount of the pulse motor required to move the mover to the target position from the drive signal and the detection signal of the position detection circuit at that moment, and the calculation result of this comparison calculation circuit is calculated by a predetermined amount. A rotation control circuit that forms a drive pulse signal for rotating the pulse motor at a high speed, a drive circuit that excites and rotates the pulse motor in accordance with the drive pulse signal from this rotation control circuit, and the comparison calculation. A counter that stores the calculation results of the circuit and changes the stored contents as the pulse motor rotates; a speed detection circuit that detects the rotation speed of the pulse motor; and a speed detection circuit that detects the rotation speed of the pulse motor. Immediately before, a brake circuit applies a brake signal proportional to the speed signal from the speed detection circuit to an excitation phase other than the excitation phase to which the R final drive pulse signal is applied, and a final drive pulse signal of the pulse motor is applied. A gate circuit connecting the drive circuit and the brake circuit in order to apply the brake signal to an excitation phase other than the excitation phase to which the drive circuit is applied is shown on the right.

E-effect] With the above configuration, the pulse motor drive control circuit according to the present invention controls the pulse motor to a constant state when the amount of rotation of the pulse motor required to move the slider of the pulse motor to the target position is less than a predetermined amount. The drive is controlled at a low speed, and when the number exceeds a predetermined time, the drive is controlled at a high speed. Then, just before the pulse motor stops rotating, a brake proportional to the rotation speed of the pulse motor is applied.

1 Example 1 An embodiment embodying the present invention will be described below.

FIG. 1 is a block diagram of the entire electronically controlled part of an electronic typewriter using a pulse motor for the selection function.

The input section is a 4-knee board 25 shown in FIG. encoder 1
00. Buff? Register 101. It is composed of an m-selection support section 102, and the letters and numbers of the keyboard 25 = 1-
1 encoder 10 for character and numeric information corresponding to 26 operations
0, and in the encoder 100, the character and number keys 2
Detects that 6 is in the suppressed state Press I [Detection signal 99
At the same time, according to the output of the selection support unit 102 according to the operation contents of selection 4=-27, 28, 29, character and numerical information from the keyboard 25 is converted into a predetermined coded digital signal, and the buffer register The byte tree digital signal 103 is sent to 101.

In the baffle register 101, this binary digital signal 103 is temporarily stored, and when it is in an output-enabled state, it issues an output support signal 104 and presents the encoded character and numeric signal 105 to the output terminal. These character and numeric signals 105 are erased by an erase signal 106 associated with subsequent printing operations, and are erased from the buffer register 101.
will have the input of the next digital signal 103.

Further, the contents of the buffer register 101 are cleared by the margin write signal 94 described above and the initial reset signal 208 at power-on, which will be described later.

Note that when a plurality of character and numeric keys 26 are operated instantly and consecutively, their contents are sequentially encoded by the encoder 100 and all stored in the buffer 7 register 101, and the buffer 7 register 101 outputs an erase signal 106. As a result, each time the previous character or number signal 105 is erased,
Output support signal 104 is issued, sequentially character, numeric signal 1
05 will now be output. keyboard? 5, Libby 1 to signal 107.5 corresponds to the operation of the repeat key 30 and space key 32. A space signal 108 is also output.

The detection unit that detects the rotational state of the pulse motor 5 includes three detection units that constitute the detection mechanism 6: 1109, 110.11.
1.4-phase signal forming section 112. Home position instruction signal forming unit 11
3. Up/down pulse forming section 114, acceleration/deceleration pulse signal forming section 115. A constant low speed instruction section 116 that detects that the rotational speed of the pulse motor 5 is below a predetermined speed. and the rotation speed of the pulse motor 5, < o
-A-L > dt Speed detection unit 117 for forming a level signal corresponding to the corresponding level signal
It is composed of.

2dθ Here, (D 7p) is calculated from the following theory.

According to the inventor's divine experiments, the characteristic of J3 when the rotor of this pulse motor (its light load) stops rotating is very approximately expressed by the equation of motion of the secondary vibration system, Jd, 4
p A−fL+ Kθ− dt
alt is known. Here, J is the moment of inertia of the rotor (and Ω load), 1-1θ is the displacement of the rotor, t is time, D is the fixed decay coefficient of the rotor (and load), and K is the restoration constant. be.

Here, in the above equation of motion, if we set ωn =, /i = natural circular frequency, β - D / 2 = damping ratio, then this equation becomes u + 2 β h - j 4 + θ - 0... 1 ), and depending on the range of β, this equation can be reduced to -3in (q Buddha is 10t) When β = 1, θ(1)2Y (Buddha θ. 10th.) is 10. )
・e-”t.

becomes. However, in the above formula, when 101=0, θ([〉2θ., 111ω., and J:
However, the values of β obtained for various lfl are shown in FIG. 4, and in the actual motion of the rotor (and its load), the value of β is about 0.2 or less. Furthermore, the 6th
In the figure, the vertical axis represents distance θ, and the horizontal axis represents time t. Therefore, as can be seen from this series of analyses, when the pulse motor rotor (and its load) stops, it is actually the rotor (and its load) that causes unnecessary damped vibration.
This is because β has a value extremely smaller than 1, and if β becomes close to 1 or more, this damped oscillation will disappear.

Therefore, if we assume that the torque applied to the rotor (and its load) -Jθ just before stopping is set in the form (- β-o -H>), the luck mentioned earlier will be zero,
If we set ω,, -5 diko, β-=(D+D")/2L, this equation becomes d2θ positive + 2β'ω, de+ω0=0, which is dt. This means that if β- is close to 1, the rotor (and its bearings) will stop without unnecessary damped vibration.

The values of F and J are values determined by the characteristics of the pulse motor (and its load) or usage conditions, and in the case of the present invention, the speed just before stopping is a constant low speed. Since it is determined that , unnecessary damped vibration can be ideally suppressed. W.

Referring to FIG. 7, which shows the case of driving using the 2-2 phase excitation method with a four-pole configuration of X, Y, and Z poles, the X and Y poles change from the driving state in which the W and When the rotor R, which has proceeded to the excited driving state, is stopped at a stable point determined by the next Y and Z poles, when the final excitation signal is applied to the Y and Z poles, -dθ simultaneously rotates. In order to give the above-mentioned (-DTE'-) torque to the child R, the final excitation signal is irresistible, so an excitation signal with a level corresponding to (DTE') is applied to the X pole which is not -〇. The level of this excitation signal is set at dark blue (=J) according to the suspension of the pulse motor and its hook.

Detectors 109, 110, 111, 4-phase signal forming section 112
．． Details of the original position instruction signal forming section 113 are as shown in FIG. The detectors 109, 11o, and iii each have one light emitting diode 109a, 1 as shown in FIG.
10a, 111a,! Phototransistors 109b and 1101 facing the knee collection through a light shielding plate 6a
), 11 lb, and from the detection signal by the detector 110, the amplifier 1 in the four-phase power generation unit 112
18 and an output signal 121 obtained by inverting this output signal 119 with an amplifier 120, two sine wave signals are formed, and the detection signal of the detector 111 is also amplified Z122 and Z124. Thus, sinusoidal output signals 123 and 125 are formed. Each of these output signals is a signal 119 when the rotation of the pulse motor 5 is in the clockwise direction.
→ Signal 125 → Signal 121 → No. 8 123, the transfer is rotated by 90 degrees, and when the rotation of the pulse motor 5 is counterclockwise, it is the opposite. The situation is shown in Figure 8.
The clockwise direction is shown as CW, and the counterclockwise direction is shown as CCW.

The detection signal of the detector 109 is amplified by the amplifier 126, then shaped into a square wave signal by the amplifier 127 of the original position indication signal forming section 112, and then converted into a square wave signal by the inverter 128.
It is output as an instruction signal 129. In the figure, the number 129 indicates that the instruction signal 129 is normally at a high level and becomes a low level only when instructing the home position.The same indication applies to all signals below. We will do the following.

FIG. 9 shows details of the up-down pulse signal forming section 114, in which the sine wave signals 119 and 125 from the 4-layer signal forming section 112 are input, and
The waveform of the square wave signal is shaped by 0,131. The shaped output from the amplifier 130 is inverted by an inverter 132 and output as a signal 150, as well as the set input signal and clear signal of 7 flip-flops (hereinafter referred to as FF) 143 and F[146,14
Furthermore, this signal 150 is passed through the inverter 133 and becomes the set input signal of the FF 134 and the clear 18 bow of the FF 137 and 138. The output of FF134 is directly input to FF135, and the set side output of FF134 and FF
The reset side outputs of 135 are both input to AND gate 136, and the output of this AND gate 136 is input to FF 137.
The pit side output becomes the set input of FF138, and the FF
The output of 138 is directly input to FF139, and FF1
The set-side output of 3B and the reset-side output of FF' 139 are both input to an AND gate 140, and the outputs of the ANDGOOs 1 to 140 become the up signal 152.

The shaping output from the amplifier 131 is inverted by an inverter 141 and output as a signal 151, and further inverted by an inverter 142 and sent to FFs 137 and 146.
This is the human input. The output of the FF 143 is inputted as is to the FF 144, and the output from cellar 1 to the sub-output of the FF 143 and the reset side output of F1/I/l are inputted to the AND gate 145, and the output of this AND gate 145 is inputted to the output of F1''146. Serves as a clock (trigger) signal.
The human side output of FF146 becomes the set input of FF1/17, the output of FF147 is inputted as is to FF148, the set side output of FF147 and the reset side output of FF1/18 are both inputted to AND gate 140,
The output of this AND gate 149 becomes the down signal 153.

In addition, FF134.135, 138, 139, 143.1
44, 147, and 148 are all triggered by the clock signal 154 of 250KH7, and FF13
The reset input terminals of 4,138,143.147 are grounded, and t-F135,139,144.14
The clear signal input terminal of 8 is connected to the power supply. The input signals to this J:Tsu up/down pulse signal forming section 114 are as shown in FIG.

FIG. 10 shows details of the acceleration/deceleration pulse signal forming section 115. The signal 150 is inverted by the inverter 155 and becomes the set input signal 1 and clear signal of F F 164, and is further inverted by the inverter 156 and becomes the cell 1-person signal and clear signal 13 of t=F 157, which becomes the J Meri signal. , the signal 151 is sent to the inverter 162 J,
FF
The trigger signal is 157.164. FF157
, 164 set side output is people and gate 158.1
65, and each output t of this AND gate 158.165 becomes the set input signal and clear puff 1 signal of FF159.166, respectively, and FF159.166
The output is directly input to FF160.167,
The set side output of FF159 and the hit side output of FF160 go to AND gate 161, and the set side output of FF166 and the reset side output of FF167 go to AND gate 168.
The outputs of these AND gates 161 and 168 are both input to an off gate 169, and an OR gate 1
The output of 69 becomes an acceleration/deceleration pulse signal 170.

Note that FF159, 160, 16, 6, 167 is triggered by the ON signal 154, and FF157.

164 reset input terminal is installed and FF160°16
The clear signal input terminal of 7 is connected to the power supply.

This acceleration/deceleration pulse signal 170 is as shown in FIG.
The acceleration/deceleration pulse signal 170 is emitted 90 degrees (1/4 cycle) after the start of rotation, and the acceleration/deceleration pulse signal 170 is generated by the pulse motor 5.
It can be seen that U is sequentially issued at a timing 3/4 cycle earlier than when the rotation of one step is completed. This is due to the acceleration rotation control of the pulse motor 5 and the subsequent deceleration rotation control and constant low speed rotation a, II, for reasons described later.
This has great significance in low-speed rotation Hil control near the so-called maximum self-starting frequency without control or acceleration/deceleration rotation control.

FIG. 11 shows details of the constant low speed support section 116. In this device, the signal 15 generated by the up/down pulse signal forming section 114 is synchronized with the clock signal 154.
0.151 and its inverted signal, 6
2.5KHz clock signal 171 +111 L,
, the counter 172 counts how many clock pulse signals 154 of 250K +-1 are included for each 1/4 step rotation of the pulse motor 5, and the count contents are latched in the latch circuit 173 and preset. When the content of the latch circuit 173 exceeds a predetermined value by the comparator 174 to which a predetermined value III is set, the speed instruction signal 175, which is the output signal of the comparator "a" 174, is set to high level. is set and wrap-circuit 1
When the content of 73 becomes 78, that is, when the rotational speed of the pulse motor 5 drops below approximately 500 r, p, m, the speed instruction signal 175 becomes high level.
The rotational speed reduction at this time is much different from the constant low speed explained in FIG.

FIG. 12 shows the details of the speed 1 good detection unit 117, in which the sine wave output signals 119, 121, 123, 125 from the L destination f4 layer signal forming unit 112 are input,
A differentiating circuit 176 each individually constituted by a capacitor and a resistor converts the signal into an alternating current signal whose amplitude value changes in proportion to its degree, that is, its circumference +111, and inputs it to a switching gate 177. On the other hand, in the gate signal forming section for controlling each gate of the switching gate 177, the signals 123 and 125 are
are waveform-shaped into square wave signals by amplifiers 179 and 180, respectively, and then a logic circuit 181 calculates the peak value region of each differential waveform signal of the aforementioned sine wave signal 119.12'1.123.125. The signal is made into a signal for detection and input to multiplexer 182. This multiplexer 182 sequentially controls each gate of the switching gate 177 according to the signal that detected the peak value region in accordance with the order set by the rotation direction instruction signal 183, and as a result, all outputs of the switching gate 177 are added. The signal is obtained by extracting and synthesizing each peak value region of the four differential signals, and this summed output is sent to J3 at each moment of the pulse motor 5 by the amplifier fll'1ε34.
Voltage level signal 1 corresponding to the rotation speed in an analog manner
It is output as 85.

Although FIG. 13 is not shown in the block diagram of FIG. 1,
1 shows details of an initial state setting circuit for an electronic typewriter according to the present invention. In this device, when the power is turned on, a one-shot multi-pie break (hereinafter referred to as OM) 200 is triggered by a delay circuit 199 for a predetermined time d, and an initial repeat signal 208 is emitted. At step 208, the initial state of each electronic part of this electronic typewriter is determined. In addition, this logic circuit 199 simultaneously triggers 0M201, and 0M201 triggers 0M202.
-IJ KaL, History 1. :0M202LiFF203
] - Li does. The set side output of the FF 203 inputs the AND gate 204 as 1lilJ1flL, the reset side output becomes the initial state signal 207, and the AND gate 204 inputs the clock signal 205 of 200H7, which is the self-starting frequency signal of the pulse motor 5, and the FF 203 In accordance with the set state, an initial drive pulse signal 206 for initial drive of the pulse motor 5 is output. The output states of the initial state signal 207 and the initial drive pulse signal @206 are stopped by the arrival of the original position instruction signal 129. That is, these initial state signals 206 and 207 are used to drive the pulse motor 5 with the clock signal 205 after the power is turned on and the initial states of all electronic parts are determined, and the operation of detecting its original position is executed. h11it!
L.

It is something that can be enjoyed.

Referring again to FIG. 1, the control unit 209 receives the output instruction signal 104, character and numeric signals 105 . Repeat signal 107° Space signal @1Q8
．． Home position instruction signal 129. Up/down pulse signal 1
52,153. The acceleration/deceleration pulse signal 170 and the speed instruction signal 175 are inputted to the buffer register 101 of the input device.
The erase signal 106 is output to the ink ribbon drive section 210.
, a distributor that outputs trigger signals 213, 214, and 215 to the hammer drive unit 211 and space drive unit 212, outputs a rotation direction instruction signal 183 to the speed detection unit 117, and further configures the drive IJBB 216 of the pulse motor 5. 217
rotation direction instruction signal 183 and drive pulse signal 218
, drive pulse signal 2 is sent to the deceleration torque addition determination circuit 219.
18 and a deceleration instruction signal 220 for instructing the timing to apply deceleration torque to the pulse motor 5 in the deceleration region and just before stopping. it like this
,! 1 Ube 209's 31 #l<A Voice to explain the operation
Next, the drive section 216 will be explained.

Rotation direction instruction signal 183° drive pulse signal 218. At the same time as the deceleration instruction signal 220 is input, the speed detection section 117 outputs 43 signals at each moment of the pulse motor.
The pulse motor drive +1216 inputting the voltage level signal 185 corresponding to the speed of the pulse motor is connected to the distributor 217. Deceleration torque f=J addition decision circuit 219, reduction torque addition gate circuit 2
21 and an excitation phase drive portion 222 of the pulse motor 5. Details of the motor are shown in FIGS. 16A, B, C, and D.

FIG. 14A shows the details of the distributor 217, in which the rotation direction instruction signal 183 is manually inputted to the AND gates 226 and 231 via the inverter 223, and further to the AND gates 227 and 232 via the inverter 224. The drive pulse signal 218 is input to the FF 225.
1 of 230 to RIGA input signal. [For F225, the output 251a on the cell 1 side is input to the ant game h 226, the output 251o on the reset side is input to the AND gate 227, the outputs of the AND gates 226 and 227 are both input to the OR gate 228, and the output of the OR gate 228 is Connect the FF230 to the hit side, and also connect the inverter 2.
29 to the set side of the FF 230. In F F 230, the hit side output 251b is input to the AND gate 231, the reset side output 251d is input to the AND gate 232, and the AND gate 231.23
The outputs of the two outputs are both input to the A gate 233, and the outputs of the OR gate 233 are input as they are to the set side of the FF 225, and are input via the inverter 234 to the input side of the FF 225, respectively. F[22!5.
Outputs 251a to 251d of 230 are 11-phase pulses [-
This determines the evening excitation phase.

FIG. 14B shows details of the deceleration 1 to lukui/1 acceleration decision circuit (21°C). Here, the drive pulse signal 218
is the input signal of the FF 236 and the input of the AND gate 1-246 (no. 8) via the inverter 235.
Ant game 1 in which the R signal 327 is passed through the inverter 244 and inputs the initial rehit signal 208 = 24
5 is input, and the output of Andogoo 1-246 is F F 2' 36 , 237 .

It is a clear signal of 238.239. FF236
．． The input and output terminals of FF237, 238, and 239 are connected in series), and are triggered by the clock pulse signal 15/I, the reset side input of FF23 (3) is grounded, and the set side output of FF236 and FF237 are connected. The reset side output of F238 is connected to the AND gate 241, and the set side output of F238 and the reset side output of 239 are connected to the AND gate 241.
0 has been input extensively, Antogame-1~240,24
The outputs of 1 and 1 are respectively 1st and 1st. It serves as a clock signal for the second memory 242, 243.

Output 25 of FF 225.230 of the above-mentioned distributor 217
18 to 251d, that is, a signal indicating the excitation phase at each moment is sent to the first memory 2 in synchronization with the output of the AND gate 240.
42, and further input to the second memory 243 in synchronization with the output of the AND gate 241. Therefore, this first
．． The current excitation phase and 1
Signals instructing the excitation phase before the step will be stored, the output of the first storage 242 will be input to the IJI alternating Δ agates 2478 to 247d, and the output of the second storage 243 will be stored. Each exclusive or gate 247a ~
247d and AND gates 248a to 248d, and the outputs of exclusive OR gates 247a to 247d are also input to AND gates 248a to 248d, and their outputs are controlled by the deceleration instruction signal 220 to AND gates 2498 to 2/+9+1. is input into the pulse motor 5 and instructs an excitation phase other than the excitation phase determined by the output of the distributor 217 at that moment in order to add deceleration 1-lux to the pulse motor 5]- torque addition instruction signal 250a to 2
50d is formed by these AND gates 249a to 249d.

FIG. 14C shows the main parts of the excitation phase drive section 222 and the deceleration [・
2 shows details of the torque addition gate circuit 221. A return gate signal 297 formed by a start gate circuit 300, which will be described later, is transmitted to
People on the set side of F192 were forced, and Gate 18
6 is a 4-error 0 signal 28 of a down counter 276, which will be described later.
6 is also input and its output triggers 0M187 [-, which in turn triggers 0M188. Antgame-1-189Ll Input the output of this 0M188 and the output instruction signal 104 passed through the inverter 190,
The output becomes a torigger signal of the μFF 192, and when the output instruction signal 104 is passed through the inverter 190, it is the first +111 reset signal 208 and the AND GOUT 19.
1, and the output of AND gate 191 is input to FF192.
This becomes a clear signal.

The set side output of FF192 is ant gate 193a~
193d, and the reset side output is AND gate 1
94a to 194d, and these AND gates 1
93a-, 193d and AND gate 194a ~1
94d A, each? The outputs 251a to 251d of the distributor 217 of fIiJ are manually operated, and the outputs control each of the switching gates 252 and 253. Since the switching gate 252 determines the excitation phase during rotation of the pulse motor 5 by the action of the FF 192,
The outputs 251a to 251d of the distributor 217 are input through amplifiers 195a to 195d, respectively, and these inputs are level-adjusted to a high level by the power supply 197, so that the excitation current of the pulse motor 5 is large. Become.

On the other hand, the switching gate 253 determines the holding excitation phase when the pulse motor 5 is stopped rotating, and the distributor 217
The outputs 251a to 251d of are connected to amplifiers 1968 to 19, respectively.
6d, and this human power is input via power supply 19
The level is adjusted to low (t) by 8, so that the excitation current during the stop of the pulse 5 is suppressed to a small value 11.

The switching gates 252 and 253 both have their output terminals connected to the UhIJ attached signal ratio signal output terminals 25a and 255, 6. The same goes for the other switching signals 1 to 254 (IO). The switching gate 254 is an analog switch for configuring the deceleration torque addition gate circuit 221, and its output is output to excitation signal output terminals 255a to 255d, and each gate terminal has a 14th The deceleration torque addition signals 25Qa to 250d explained in FIG.
The excitation phase and excitation current to which is added are determined. That is, this switching gate 254 is connected to l1JJ1 other than the excitation phase for rotational drive determined by the distributor 217.
Cheers to the phase! 1 current is applied to give a deceleration torque to the pulse motor 5, and the deceleration torque is determined by the speed (7〒-) of the pulse motor 5 at that instant -〒-, so that it becomes 110 (D-7T-). is set to .

Figure 14 shows only the excitation circuit 256 of the excitation phase drive section 222 that corresponds to the excitation 14i signal output terminal 255a shown in Figure 14C; Excitation signal output terminals 255b to 25
An excitation circuit having a similar configuration is also used for 5d. In the same figure, the base terminal of the transistor 256a is connected to the excitation signal output terminal 255a, the collector terminal is connected to the power supply, and the emitter terminal is grounded through the resistor 256b and connected to the transistor 1-transistor 2 through the resistor 256C.
56d is connected to the base terminal of the transistor 256.
The emitter terminal of d is grounded, and the collector terminal is connected to the power supply via a diode 256e and connected to a resistor 25.
6[ and the excitation coil Wa of the excitation pole W of the pulse motor 5 are connected to the power supply through a series circuit, and the transistor 2
When an excitation signal is input to 56a, a current is applied to the excitation coil Wa, and when the excitation coil Wa is driven by the output of the switching gate 254, as explained above, It is set to operate as a class A amplifier so that the deceleration torque is proportional to the speed. .

Next, the detailed operation of the control section 209 for controlling the r drive shaft section 21G will be explained with reference to the block diagram shown in FIG. The up/down counter 257 controls the pulse motor 5, that is, the pulse motor 5, at each moment of the tie boiler 3, J3[
) indicates how many lines the printing element 2 has moved from the original position by the number M, and the up signal 152 from the up/down pulse signal forming section 114 shown in FIG. , input No. 13 down 153, count down from 1 to up for the clockwise CW rotation of the pulse motor 5, and count down for the counterclockwise CW rotation of the pulse motor 5. When the power of the entire device is turned on, the initial state signal 207 and the initial state signal 129 are issued to the original position instruction A. The n, y, and iit number contents are -. The moment the count reaches 96, the contents of each 4 number are automatically cleared to O.

The comparison arithmetic circuit 259 uses this up/down counter 2
57 count contents 258 and the characters and numbers 105 from the buffer register 101 are input, the current position and the target position of the pulse motor 5, that is, the type wheel 3 are detected, and the shortest distance between the two positions and the rotation direction are determined thereby. The distance deviation signal 260 as well as the rotational direction instruction signal 183 are outputted using the rotation direction signal 183.

The details are as shown in FIG. In the figure, character and numeric signals 105 in binary code from the buffer register 101 are sent to AND gates 2618 to 261, respectively.
1g and these AND gates 2618-26
1g is controlled by a selection gate signal 340 which is an output signal of a start/stop circuit 300 to be described later, and its output is converted into a two's complement form by exclusive OR gates 2628 to 262g, and each digit 263 of a full adder 263 is
It is input to a~2639-. Each digit 263a to 263o of this adder 263 is an up/down counter 2.
57 count contents 258 are input respectively, and the most significant digit 263
Assuming that the carry signal is always panonographed to t and L, the input to the topmost (O digit 263 tl) is the F digit 26.
It is composed only of Nobuoka Guillery from 39.

And this total addition nil 263 last 4 digits 263a ~
263d each addition Q combination Song people exclusive or gate 2668
〜266d and excludes the most significant digit 263h Upper S3
The prayer results of 263g to digit 263e are sent to full adder 26 respectively.
The contents of the most significant digit 263h are input to the other input terminal of an exclusive OR gate 264 whose one input terminal is connected to the power supply. The output of the exclusive A/' gate 264 is input to digits 265b, 26!5c of the adder 265, and one input terminal of the least significant digit 265a and both input terminals of the most significant digit 265d of the full adder 265 are Both are grounded.

The output of digit 265C of this full adder 265 is
67 to or gate 269, digit 265
The outputs of a and 2G5b are both input to an OR gate 269 via an AND gate 268, and are also input to exclusive OR gates 266e and 266f, respectively. The output of the OR gate 269 is exclusive OR gate 266a-:l'6
6f and the least significant digit 27 of the full adder 270.
0a:1-Yari signal, and further serves as a set input to the FF 271 to form the rotation direction instruction signal 183.

One of each digit 270a to 270 of the full adder 270 has
The outputs of the exclusive OR gates 2668 to 266r are input to each, and the other gates are grounded except for the most significant digit 270f.The output of the OR gate 269 is input to the most significant digit 270[, Both outputs become distance 1iII11-difference signal 260. The reset input of the FF271 is grounded, the load signal 326 from the start/stop circuit 300 is input to the trigger terminal, and the start/stop circuit 3 is input to the clear signal input terminal.
The selection signal 327 from 00 is inputted, and the output from the cellar 1~ side is inputted together with the selection signal 327 to the AND gate 272, and the AND gate 272 outputs the rotation direction instruction signal 183.
output.

The details of the operation of the comparison calculation circuit 259 are described in detail in U.S. Pat. No. 3,858,509, but in summary, the pulse
The number of steps required to rotate in the i11 direction is 4.
When the number of steps exceeds 8, that is, for example, 65 steps, the rotation direction instruction signal 183 is set to 0-level to instruct counterclockwise rotation, and the content of the distance deviation 1cj4260 is set to correspond to 31 steps. 7ru.

Referring again to FIG. 15, the distance deviation signal 260 thus IJ is latched in a latch circuit 273, and the latched contents are: deviation 1t11 circuit 274° deviation value 2 circuit 275. A down counter 276, a trigger timing circuit 277, and an operational p determination circuit 278.

It is input to the dividing line circuit 279. Deviation value 1 circuit 274, deviation 1+02 circuit 275 G;i, If the number of steps required to rotate the pulse motor 5 from the start position to the target position is 1.2, people 1 step forward No. 13 280.2 steps The two-step advance signal 281 is input to a final signal forming circuit 282 which forms a final drive pulse signal 2F33 and a deceleration instruction circuit 284 which forms a deceleration instruction YES signal 220.

The down counter 276 is hit by the content latched by the latch circuit 27r3, and then the drive pulse signal 218 is inputted to HI, where the pulse motor 5 is driven one step, and the down counter 276 runs down the content of that number. The bird outputs the count contents to the timing circuit 277, and when the count contents reach 1.0, a count 1 signal 285.
A count O signal 286 is output. Based on the content latched in the shoe 1 circuit 273, the calculation/determination circuit 278 has the function of emitting a constant speed instruction signal 287 indicating that acceleration/deceleration rotation control of the pulse motor 5 is not necessary, and the function of emitting a constant speed instruction signal 287 indicating that acceleration/deceleration rotation control of the pulse motor 5 is not necessary. If necessary, in order to indicate the branch point from the accelerated rotation area a to the decelerated rotation area explained using FIG. ! It calculates whether it corresponds to the number of steps, and sends the calculation content 288 to the corrector 289. Kakashi 289
inputs the calculation result 288 of the judgment circuit 278 of this operation and the result of calculating 172 of the entire process (>operation C of the split tube circuit 279), adds the number of steps required to reach the branch point, and compares. The result of A is sent to the circuit 290. Furthermore, ;1,11?
>The circuit 279 calculates 1 and '2 of the content latched by the latch circuit 273 by removing the highest phase of the content.If the latched content is an odd number, it calculates 1. /
It becomes b which outputs the numerical content not exceeding 2.

Here, the details of the start switch circuit 300 will be divided into parts.B will be explained with reference to FIG.

The AND gate 308 receives the output from the cross register 101)11 indication signal 104, the initial state signal 207 and initial reset signal 208 from the initial state setting circuit, and the repeat instruction signal j from the 1-rega timing circuit 277, which will be described later.
-3341, the reset side output signal of FF333, and the output signal of 0M303 are input respectively, and the output is
It is sent to the set input terminal and clear input terminal of F309, and the clear input terminal of FF310. F F
The output of FF309 is directly input to FF310, and the output of FF310 is directly input to FF311 in series.
The set side output of F309 and the reset side output of FF3.10 are both input to the AND gate 312, and the set side outputs of FF310 are inputted to the AND gate 312. F
F309, 310, 311 are all clock pulse signals 1
54.

The FF 315 is set by the output instruction signal 104 and triggered by the output of the AND gate 312, its reset input terminal is grounded, and the output of the AND gate 334 is input to the clear input terminal. The side output signal 292 is a set input signal of the FF 330 and a human input signal of the A agate 324.

The output of the AND gate 313 is sent directly to the OR gate 323.
This output signal 293 is also inputted to the AND gate 336, and the output signal 293 is further passed through an inverter 314 to become a 1-rega signal 294 of 0M335. The output of the AND gate 393, which inputs the repeat 1 instruction signal 341 via the inverter 299 and the reset side output signal 307 of the 0M373, is the initial set signal 208, the output IH of the AND gate 319, and 0.
7nd gate 332 along with output signal 295 of M376
and the output of Antogame)-332 is F'333
This becomes the set human input signal and clear input signal, and FF3
0.33 trigger input terminal. The human side output signal 296 of M335 is input.

The I-rigger drive signal 451 to the hammer drive unit 211 is manually input to 0M302 via the inverter 301, and the 0M3
02 is the d11 signal 10 to the buffer register 101.
6 and outputs 0M303 by this signal 106.
．． 304 is 1-rigged.

OM304GiOM305t! J7jL,,0M30
5 outputs the let side output signal 322 to 0M373 and A1
~ Manually input the game h 371 and input the reset side output signal for the first time.
11J reset number 208 and gate 334
input. The ant game 1-371 inputs the repeat instruction signal 341, and inputs its output as the repeat return signal 400 to the A gate 3372, and the output signal ( ) 298 of the OR gate 372 is the output instruction signal 10.
4 is inputted to the AND gate 317 along with the one passed through the inverter 31G, and the output signal 318 of the AND gate 317 is inputted as it is to the 0M320, 374, and is inputted to the trigger input terminal of the FF 330 via the inverter 329. . The output on the cell 1 side of 0fv1320 is input to 0M321, and the output on the reset 1- side is input to the OR gate 323 which outputs the load signal 326.
The output of 0M335 is input to the OR gate 325, and the OR gate 325 receives the start instruction signal 328.
Output. Output instruction signal 10 to AND gate 319
4, 0M373 set side output signal 306 and 0M37
4 output signals are respectively input.

FF330 has an initial reset signal 20 on the clear input terminal.
Input the output of AND gate 336 which inputs 8, and
from the let side output terminal of the return gate (,?8297
is output, and the ant game t-
When 331 is manually operated, select IJ< gate (outputs No. 3 340 and outputs select IR signal 327; enters 47 games 1 to 324) from the side output terminal to 1. The output signal of AND gate 331 is e of Fl-337.
It becomes a human signal and a clear input signal, and F F
The output of 337 is directly input to FF338, and
The set side output of F337 and the reset I- side output of FF338 are input to AND gate 339. Furthermore, FF3
37 and 338 are both 1-rigged by clock 1: No. 154.

The output of the AND gate (33° C.) becomes the trigger signal for 0M375, and the output of 0M375 becomes the trigger signal for OM and 376.

Start/stop circuit 3 with the above configuration ()
The power signals for each part of 00 are as shown in Fig. 18A and B. Fig. 18A shows the case where the return operation of the print head 1 is performed immediately after the printing operation, and Fig. 18B shows the case where the return operation of the print head 1 is performed immediately after the printing operation. Subsequently, a case is shown in which a selection operation of the printing element 2 is performed without performing a return operation, and the symbols indicating each output waveform are made to match the symbols of the signals in the circuit diagram.

As is clear from the signal waveform diagram of each part, the start/stop circuit 300 outputs the load pulse signal 32 with the arrival of the output instruction signal 104 from the buffer register 101.
6 and selection signal 54327, and also outputs a start instruction signal 328 (as described later, the pulse motor 5 is started), and then the down counter 2
76 counting O signal 286 and hammer drive 21'I
ff1ll of the trigger drive unit @451 outputs the erase signal 106, and the + sign 104 is output to the -bright output instruction.
When the output instruction signal 104 does not become high level even after a predetermined period of time has elapsed, that is, the buffer register 101
Character and numeric information is input to [When not, the AND gate 317 issues a return 1~rega signal 318, and along with this, a comparison operation is performed between the current position and the original position, and the A gate 325 Start instruction fg
If outputs Q3211 and returns to the original position.
It will make you start n.

Unlike this, the output instruction signal 10 is output within a predetermined time.
When 4 becomes high level, the next character or number signal '1'
When 05 is stored in the buffer register 101,
1-Register operation of 0M320 by AND gate 317 is stopped and the above-mentioned return dynamic fishing is not performed, and in response to the change of the output instruction signal 104 to high level, the next It is designed to perform type selection operations. In addition, when the same character or number is printed by the operation of Libby)-1-=30 (to be described later), the repeat instruction signal 341 is set to 1 by the AND gate 308 to prevent the set operation of ]-[309, and the return operation described above is executed. 1gI
In addition, the repeat return signal 400 is used to select the character and number keys 26 and the bee 1--
Press 1 of 30 "Repeat 1~ when operation is canceled" -30
When there is a state in which only Ja/j' is performed, the print operation is subsequently increased by tj4, and the return operation is opened and fi is set.

Referring to Figure 15 again - C1 this J, Eel Star 1 -
A start instruction signal 328 and an acceleration/deceleration pulse signal 170 from the slave circuit 300 are input to an up counter 344 via an OR gate 342 and an AND gate 343. This 7? The contents of the Tsupuno J counter 344 are sequentially input to the comparison circuit 290, and the comparison circuit 290 calculates the total number of pulses of the start instruction signal 328 and the acceleration/deceleration pulse signal 170.
When the step number that indicates the branch point to the adder 289 is reached,
When this occurs, the level of the output signal 291 is set to high level, the output of the pulse signal by the C non-do gate 343 is stopped via the inverter 345, and the up counter 3
In order to stop the 41 number operation of 44, the drive pulse forming section 346 is controlled by this high level output signal 291. ' FIG. 19 shows the details of this drive pulse forming section 346. In the same figure, the AND gate 343 and the inverter 345 are the same as those shown in FIG. 15, and the OR gate 3/I2 is Then, when the inverter 342a1 selection signal 327 to which the start instruction signal 328 is input is inputted to the inverter 357 at fF, the acceleration/deceleration pulse signal 1 is input.
It is shown as Δage~I-3/12G, which inputs the outputs of 70'a, 70'a, manually operated 7-domain 1-342b, and the inverter 342a, and the AND gate 342b. The addition output pulse signal from this ORG-1-3/I2 is 1:
When it comes to the trigger signal of F347.3/18.3'19, it is inputted to 351, 354, 377 to the ant game 1, and FF 347 is input to the inverter 35 as a human side input.
7, the reset side input terminal is grounded, the output is inputted as is to the FF 348, the set side output of the FF 347 and the reset side output of the FF 348 are input to the AND gate 350, The output of this AND gate 350 is input to ANDGOO 1 351.

When selection No. 13 327 is input to η via the inverter 357, the AND gate 358 which inputs the IIJJ + IIJ reset signal 208 to b inputs the output to the FF 347°3.
When the clear signal is input to the clear signal input terminal 48, the clear signal is input to the AND gate 352. and gate 352
．． The output signal 291 from the comparator circuit 290 is input to the set input of the FF 349 and the AND gate 353, the output of the AND gate 352 is input to the clear signal input terminal of the FF 349, and the reset side input terminal of the FF 349 is input. It is grounded and inputs the reset side output to AND gate 353, and AND gate 353 inputs its output to AND gate 354 and inverter 379. 378, and the output of the AND gate 378 becomes the branch point instruction signal 370.

The constant speed instruction signal 287 is input to the AND gate 363 and is passed through the inverter 360 to the AND gate 3.
The forward step signal 280 is input to the AND gate 365 and is input to the AND gate 362, 365 via the inverter 361.
4, 31 number 1 (ffi number 285 is input to AND gate 263 via in and bark 359, final drive pulse signal 283 is input to AND gate 364, and start instruction signal 328 is input to AND gate 365. The 1-number O signal 286 is input to the AND gate 368 via the inverter 367, and the initial drive pulse signal 206 is input to the OR gate 369.

The output of ANDGOO 1 to 362 is AND gate 356°3
63, the output of AND gate 351 is input to AND gate 363, and AND gate 356.363
, 364, 365 are input to the OR gate 366, the output of the A7 gate 366 is input to the Ant gate 368, and the output of the AND gate 368 is input to the OR gate 369.
The OR gate 369 outputs the drive pulse signal 218.

FIG. 20 shows details of the final Buddha formation circuit 282 and the deceleration instruction circuit 284. [''-Dobalus Shinkyu 3
26 as well as the two step forward signal 281 are connected to the inverter 380,
381 to the AND gate 383, and the output of the I node gate 383 is input to the AND gate 406 and the 7 AND gate 311, and is also input to the AND gate 407 and the AND gate 410 via the inverter 405.
is man-powered. Assuming that the count 1 signal 285 is input to 0M401 and 403 via the inverter 382, it is further input to the ant game 1 411 via the inverter 384, and the outputs are 0M402 and 0M402 respectively.
.
No. 283.

Count O signal 286 is input to AND gate 410, both outputs of AND gates 410 and 411 are input to A7 gate 412 at Jt, and output of OR gate 412 becomes a trigger input signal of FF 414 via inverter 413.

The selection signal 327 is sent to the FF 414 via the inverter 415.
．． The branch point instruction signal 370 is input to the trigger input terminal of FF 4.17 via the inverter 416, and the output of FF 417 is input to the AND gate 420. Antogame with speed instruction signal 175
4,18, and the output of Antogame 1 to 418 is F.
It is used as a trigger input terminal of F419, and the output of FF419 is inputted to AND gate 420. anime game h 42
The output of 0 and the output of FF/I 14 are
/1.21, and the output of or game 1-421 is a deceleration instruction signal 220.

To briefly describe the operations of the final 1 m bow forming circuit 282 and the deceleration instruction circuit 284, first, the final drive signal 283 of the final signal forming circuit 282 changes from the input of the count 1 signal 285 to 0M401°403 or 0M40
2.404, the output is delayed for a certain period of time, and as is clear from the first waveform diagram shown in FIG. This is the 1st and 2nd pulse signal 218 of the drive pulse signal 218, and since it is in a constant low speed rotation state as described above just before stopping, the pulse signal 218 is evenly spaced at about the so-called highest self-starting frequency signal. The last pulse signal 17 of acceleration/deceleration pulse q170 which is a pulse signal
Instead of 0k, it will be emitted after a certain period of time.

In addition, in the deceleration instruction circuit 28/l, when the two-step advance signal 281 is at a high level, that is, from the star 1 to the 2
If the selection operation of the printing element 2 on the type wheel 3 can be completed only by the stepwise rotation operation, the count 1 signal 2
85 makes the deceleration instruction signal 220 high level, and when the two-step advance signal 281 is at a low level, from the time when the branch point instruction signal 370 arrives at i-, +1 until the arrival of the speed instruction signal 175, the fourth The deceleration instruction signal 220 is set to a high level by the deceleration rotation region and the 31 number O signal 286 as explained in the figure, and while the deceleration instruction signal 220 is at a high level, the pulse motor 5 receives a deceleration torque corresponding to the speed. will be added.

Next, such a drive pulse signal forming section 34G.

In relation to the final signal forming circuit 282 and the deceleration water circuit 284, the formation state of the drive pulse signal 218 will be explained with reference to FIG. 2'1. Incidentally, in this figure, the intervals between the acceleration/deceleration pulses 13 and 170 actually increase and decrease, but are shown at equal intervals. First, the initial drive pulse No. 18 206 by the initial state setting circuit explained in FIG.
A drive pulse signal 218' is formed in ILIJ when the power is inputted manually, and after A, a start instruction signal is sent to the start/stop circuit 300 in response to the operation of the character and number keys 26 on the 1-board 25. When 328 is issued,
This signal 328 is applied to the Δ-age h 342 and AND gate 354° an1-age h 356 . of the drive pulse signal forming section shown in FIG. A agate 366, and gate 3
68 and the OR gate 369, the signal becomes the first drive pulse signal 218a, and the pulse motor 5 is activated.

Then, as explained in FIG. 8 and FIG. 10, by starting this activation, the pulse is suddenly moved to the next stable point by the first drive pulse signal 218a, that is, the start -(i The acceleration/deceleration pulse signal 170 is generated at a position that has passed 1/4 step from the position (3/4 step before the next stable point), and this first acceleration/deceleration pulse signal Fi
170a is output as the second drive pulse signal 218b through the OR gates 342 to 369 in the same way as the start instruction signal 328, causing the pulse motor 5 to rotate, and then sequentially in the same manner - (acceleration/deceleration pulse signal 170 is generated and output as a series of drive pulse signals 218.

While the drive pulse signal 3218 is output and the pulse motor 5 is driven to rotate in this way, the comparison circuit 2
90 detects the branching point from the accelerated rotation region to the decelerated rotation region, the detection signal 291 inverts the output of the AND gate 353, and thereby the acceleration/deceleration pulse signal 1
70 is prevented from passing through the AND gate 354, and a pulse signal of 11[AJ is output from the AND gate 378 as a branch point instruction signal. However, the acceleration/deceleration pulse signal 170 due to -
The passing element state of is that the blocked pulse 4:3 No. 17
Since Of triggers r-r=349 at its falling edge, it is immediately released, so only the pulse signal 170 immediately after the branch point is stopped from passing through Antoge-1-354. The subsequent signal is again output as the drive valve switch 1″f″ 321B. By blocking the output of this acceleration/deceleration pulse No. 18 170, it is output 3/4 step -e more than when reaching each stable point -4, and from 7/4 step before the target stable point. 3. The drive pulse signal 218, which had been emitted to drive the motor 5 by pulsing it to a position 4 steps before, is now output 1//I step with respect to the target stable point, and reaches the position 3 steps before the stable point. /4 step The pulse motor 5 is now driven 1/4 step past the previous step.

Furthermore, when the down counter 276 issues the 81 number 1 signal 2F35, the subsequent acceleration/deceleration pulse signal 170 is blocked from passing through the AND GO 1-356 by the AND gate 362, and instead receives the final drive pulse. The signal 283 is connected to the 7nd gate 364. It passes through an OR gate 366, an AND gate 368, and an OR gate 369 and is output as a final drive pulse signal 218.

Note that when the low speed instruction signal @287 is output, if acceleration/deceleration rotation control of the hit pulse motor 5 is not required, the start instruction signal 328 cannot pass through the AND gate 356; (~351.363. It is output as the first drive pulse signal 218 through the OR gate 366, AND gate 368, and OR gate 369. However, the first acceleration/deceleration pulse signal 170 that is subsequently emitted is
is the AND gate 351 due to the operation of FFs 347 and 348.
is prevented from passing through, and the second acceleration/deceleration pulse signal 1
70 as a drive pulse signal 218, and this state is the same as after the branch point in the case of acceleration/deceleration rotation control described above, from the stable point to 1. It is assumed that the acceleration/deceleration pulse signal 170 output at a position delayed by /4 steps is output as the drive pulse signal 218 that drives the pulse motor from a position 3/4 step before the target stable point to a position 1/4 step past the target stable point. Become.

If the one-step advance signal 280 is still being output, only the start instruction signal 328 is output as the drive pulse signal 218 by the AND gate 365.

Next, the rotational drive of the pulse motor 5 by the drive pulse signal @218 formed by the acceleration/deceleration pulse signal 170 will be explained in more detail. In this embodiment, the pulse motor 5 is W as shown in FIG.

As already mentioned, it uses a 2-2 phase excitation system with a 4-pole configuration of X, Y, and Z, and in such a case, 1
■ 11I7 from the stable point θ0 to the next stable point 01
When the pulse motor is rotated by the pulse signal 1,
It is well known that the energy applied to the pulse motor is b, which corresponds to the area of the shaded portion 3a according to the torque curve C1 in the torque curve characteristic diagram shown in FIG. 22. In FIG. 22, the horizontal axis represents the distance θ, and the vertical axis represents the torque 1.

In the case of this embodiment, the pulse motor, which was initially stopped at the stable point θ2 due to z and wi, is given an excitation signal to the W and X poles by the start instruction signal 328, and one rotation energy is given according to the torque curve C3. If so, the pulse [-5] starts rotating to the stable point θ3 by its two poles.

However, since the acceleration/deceleration pulse signal 170 is generated during this rotation as described above, the 3/4 pole that reaches the stable point θ3 is W.

The pulse motor 5 reaches a stable point θ3 due to the W and X poles because it is forced to move from the X pole to
/4 steps before, the X and Y poles are excited and receive rotational energy according to torque calf 04.
It rotates toward the stable point θ4 due to the pole. Then, the next acceleration/deceleration pulse <170 causes the excitation phase to proceed from the X and Y poles to the Y and Z poles, and the rotation continues. Therefore, the rotational energy applied to the pulse motor 5 at this time is the area shown by the hatched area in FIG. It can be seen that the rotational energy r- due to the acceleration/deceleration pulse signal Si 170 is larger than that shown in FIG. 22A. This large energy accelerates the rotation of the pulse motor 5G
J is done. J.

At the branch point from the accelerated rotation region to the decelerated rotation region, one acceleration/deceleration pulse signal 170 is removed. W.

The excitation phase is sequentially switched to X pole → X, Y pole → Y, Z pole - = Z, W pole and during 11 When the next acceleration/deceleration pulse signal 170, which should give an excitation signal to Y and 7, does not arrive, X and Y continue to move even after passing the previous W detection position.
The rotational state is continued by the rotational energy according to the torque curve C5 brought about by the excitation of 4@, and x, Y
At a position beyond the stable point θ5 due to the pole by 1//l step, y and zVM are excited by the next acceleration/deceleration pulse signal, and then proceed by 1 step to reach the stable point θ6 of Y and zi by 1. /4
Z and W poles are excited at the position past the step. Therefore,
The rotational energy from the start of excitation I of the X and Y poles to the start of excitation of the Y and Zlf+ is shown in the shaded area 3d in FIG. 22C.

It becomes as shown in Sd', and Y at C.

Z...The rotational energy imparted by excitation is 1.7' from 7'4 steps before the stable point θ6, as shown in Figure 24. The torque is given according to the torque curve C6 up to the position past /4 steps, and is much less than during acceleration (shaded areas Se, Se'), which is due to the constant low speed rotation in this embodiment, that is, the self-starting frequency. This is the rotational energy required for rotation according to the signal.

At this time, since the pulse motor 5 is given a large inertia force due to accelerated rotation, it maintains rotational energy that greatly exceeds the energy shown in the figure, but this is due to the deceleration of the deceleration instruction circuit 284 explained in FIG. Since the brake torque addition determining circuit 219 is activated by the instruction signal 220, a large deceleration torque of 1=1 other than the acceleration/deceleration pulse signal 170 is applied and rapidly decreased. Therefore,
In the deceleration rotation region, actually the acceleration/deceleration pulse signal 17
Rotational energy imparted by 0 is not completely eliminated, but this is necessary for constant low speed rotational drive after the deceleration torque application is released, and even if the low speed instruction signal 287 is issued from the beginning. It becomes necessary. In this way, the acceleration/deceleration pulse signal 170 tiL acceleration and constant low speed
It is used for the speed of seeds.

As mentioned above, in such an electronic typewriter, the selection operation of the printing element on the type wheel is replaced with a pulse-type rotation drive that can perform a series of digital controls, and when the pulse motor is rotated, By selecting a short rotation amount and applying a deceleration torque according to the rotation speed before stopping the motor, it is possible to improve the stopping characteristics. Deceleration rotation f
By performing lil control, the time required for a predetermined selection operation can be shortened, and the acceleration/deceleration rotations 1 and 11 can be controlled by
j, the acceleration rotation range is exceeded by 1/2 of the total stroke according to the required amount of rotation, thereby achieving a higher eight-speed rotational drive.

In addition, to explain in detail in Section 6 of 09, the rotational energy given to the pulse motor is large during acceleration and deceleration rotation as well as constant low speed rotation of the pulse motor.
A series of acceleration/deceleration rotation control is performed by removing one pulse from a series of acceleration/deceleration pulse signals at the boundary between accelerated rotation and deceleration rotation, so that each pulse becomes smaller during constant low speed rotation. This is achieved by performing the acceleration rotation in a region of 1/2 or more of the entire stroke, and then immediately applying brake torque (q to reduce the deceleration V, resulting in a constant low speed rotation suitable for stopping. In addition to performing rotation control such as The pulse motor is driven and stopped faster and more accurately by using a class A amplifier to apply brake torque to the skewer that is proportional to the speed.

[Effects of the Invention] As described in detail above, the pulse motor drive control circuit of the present invention has the advantage that the rotation amount of the movement r is 1121. When J is low, the L pulse E is rotated at a constant low speed, and when the predetermined hanging J is high, the pulse smoke is driven at high speed, and then the pulse motor on the right front that stops rotating. An I brake signal can be applied in proportion to the rotational speed of the brake. 1
Therefore, it is possible to provide a pulse motor drive control circuit that can rotate the pulse motor faster and more accurately.

[Brief explanation of drawings]

Fig. 1 is a block diagram for explaining the outline of the electronic part of an electric typewriter according to the present invention, and Fig. 2 is a partial cross-section showing the type head, wheel, and detection mechanism attached to a pulse motor. Figure 3 is a plan view showing the main parts of the keyboard, Figure 4 is a speed characteristic curve diagram of the pulse motor, Figure 5 is a vibration characteristic curve diagram when the pulse motor is stopped overnight, and Figure 6 is 7 is an explanatory diagram for explaining the stop control of the pulse motor, FIG. 7 is a circuit diagram showing the detection section of the I-column that detects the rotational state of the pulse motor, and FIG. 8 is a signal waveform diagram of each part. , FIG. 9 is a circuit diagram showing details of the up/down pulse signal forming section, FIG. 10 is a circuit diagram showing details of the acceleration/deceleration pulse signal forming section, and FIG. 11 is a circuit diagram showing details of the low speed instruction section. Fig. 12 is a circuit diagram showing details of the speed detection section, Fig. 13 is a circuit diagram showing details of the initial state setting circuit, and Fig. 14 A, B, C, D is a detailed circuit diagram of the pulse motor drive section. The circuit diagram shown in FIG.
Block diagram for explaining the outline of the control unit, Part 1
Figure 6 shows the details of the circuit dedicated to comparison.
The figure is a circuit diagram showing the details of the start/stop circuit.
18 is a signal waveform diagram of each part, FIG. 19 is a circuit diagram showing details of the drive pulse forming section, FIG. 20 is a circuit diagram showing details of the final signal forming circuit and deceleration instruction circuit, and FIG. 21 is a circuit diagram showing details of the final signal forming circuit and deceleration instruction circuit.
The figure is a signal waveform diagram of each part to explain the formation state of the drive pulse signal of the pulse motor. It is an explanatory diagram. In the figure, 2 is a printing element, 3 is a type wheel, 5 is a pulse motor, 25 is a keyboard, 100 is a J-NCOG, 10
9. 10, 111 are 163 detectors that constitute the detection mechanism 6, 115 is an acceleration/deceleration pulse generation circuit, 219 is a deceleration torque addition determining circuit that constitutes a deceleration circuit and a brake circuit, 259 i is a comparison stop circuit, 276 is the down counter, 277 is the first. 282 is a final signal forming circuit that forms the final excitation pulse signal; and 300 is a start/stop circuit that generates the star 1 pulse fm. ¥? Applicant: Masaharu Kawashima, President and Director of Rally-1 Gyo Co., Ltd. Figure 4-Figure 6 Figure 22 (A) CB) (C) (D)

Claims (1)

[Claims] 1. A position detection circuit that detects the rotational position of the pulse motor, and a drive signal for driving the pulse motor that is input, and at that moment moves from the drive signal and the detection signal of the position detection circuit. A comparison calculation circuit calculates the rotation amount of the pulse motor required to move the child to the target position, and when the calculation result of this comparison calculation circuit is less than a predetermined amount, the pulse motor is rotated at a constant low speed and a rotation control circuit that forms a drive pulse signal for rotationally driving the pulse motor at a high speed when the amount is greater than the amount of the pulse motor; A counter that stores the calculation result of the comparison calculation circuit and changes the stored contents as the pulse motor is moved; A speed detection circuit that detects the rotation speed of the pulse motor; a brake circuit that applies a brake signal proportional to the speed signal from the speed detection circuit to an excitation phase other than the excitation phase to which the final drive pulse signal is applied immediately before rotation stops, and a final drive pulse signal of the pulse motor is applied. A drive circuit for a pulse motor, comprising a gate circuit that connects the drive circuit and the brake circuit in order to apply the brake signal to an excitation phase other than the excitation phase in which the pulse motor is driven. 2. The rotation control circuit inputs the detection signal of the position detection circuit to a start pulse generation circuit that generates a start pulse signal for starting the pulse motor, and to the pulse motor that starts rotation based on the start pulse signal. and a pulse generation circuit that generates an acceleration/deceleration pulse signal at each set position at least 1/2 step or more before each stable point determined by the excitation state by applying each drive pulse signal, and an acceleration/deceleration pulse signal generated by this pulse generation circuit. Correspondingly, in the accelerated rotation region, when the pulse motor rotates to a set position at least 1/2 step or more before the stable point determined by each excitation state, the pulse motor is sequentially accelerated by switching to the next excitation state. By removing one pulse of the acceleration/deceleration pulse signal when switching the excitation state immediately after exceeding the acceleration rotation region, in the deceleration rotation region, the stability point determined by each excitation state is 1/2
2. The pulse motor drive circuit according to claim 1, further comprising an acceleration/deceleration rotation control circuit for switching to the next excitation state at a position that does not exceed the step and causing the pulse motor to rotate at a reduced speed. 3. A deceleration circuit for forcibly applying a brake to the pulse motor using a signal other than the drive pulse signal from the moment the acceleration/deceleration rotation control circuit exceeds the acceleration rotation range; and a deceleration circuit that causes the pulse motor to maintain a predetermined speed by using a signal other than the drive pulse signal. 3. The pulse motor drive circuit according to claim 2, further comprising a constant speed detection circuit for detecting that the speed has reached or below and releasing the brake. 4. The pulse motor has four excitation phases, and the brake circuit memorizes the excitation phase to which the drive pulse signal is applied one step before the excitation phase to which the final drive pulse signal is applied, and applies the brake signal. 2. The pulse motor drive circuit according to claim 1, further comprising a brake adding circuit for determining the excitation phase for the pulse motor. 5. The pulse motor drive circuit according to claim 1, wherein the speed detection circuit detects the rotation speed of the pulse motor as an absolute value quantity. 6. The pulse motor drive circuit according to claim 1, wherein the brake circuit forms a brake signal proportional to the amplitude value of the detection signal of the speed detection circuit. 7. The pulse motor drive circuit according to claim 1, wherein the drive circuit operates as a linear amplifier circuit when the brake signal of the brake circuit is applied by the gate circuit.