JP7327026B2 - 駆動システム - Google Patents
駆動システム Download PDFInfo
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- JP7327026B2 JP7327026B2 JP2019166986A JP2019166986A JP7327026B2 JP 7327026 B2 JP7327026 B2 JP 7327026B2 JP 2019166986 A JP2019166986 A JP 2019166986A JP 2019166986 A JP2019166986 A JP 2019166986A JP 7327026 B2 JP7327026 B2 JP 7327026B2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J29/00—Details of, or accessories for, typewriters or selective printing mechanisms not otherwise provided for
- B41J29/42—Scales and indicators, e.g. for determining side margins
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J29/00—Details of, or accessories for, typewriters or selective printing mechanisms not otherwise provided for
- B41J29/38—Drives, motors, controls or automatic cut-off devices for the entire printing mechanism
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J11/00—Devices or arrangements of selective printing mechanisms, e.g. ink-jet printers or thermal printers, for supporting or handling copy material in sheet or web form
- B41J11/008—Controlling printhead for accurately positioning print image on printing material, e.g. with the intention to control the width of margins
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J19/00—Character- or line-spacing mechanisms
- B41J19/18—Character-spacing or back-spacing mechanisms; Carriage return or release devices therefor
- B41J19/20—Positive-feed character-spacing mechanisms
- B41J19/202—Drive control means for carriage movement
- B41J19/205—Position or speed detectors therefor
- B41J19/207—Encoding along a bar
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/24471—Error correction
- G01D5/24495—Error correction using previous values
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
- G01D5/34707—Scales; Discs, e.g. fixation, fabrication, compensation
- G01D5/34715—Scale reading or illumination devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
- G01D5/34746—Linear encoders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
- G01D5/34746—Linear encoders
- G01D5/34753—Carriages; Driving or coupling means
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J2202/00—Embodiments of or processes related to ink-jet or thermal heads
- B41J2202/01—Embodiments of or processes related to ink-jet heads
- B41J2202/20—Modules
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/20—Controlling the acceleration or deceleration
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Character Spaces And Line Spaces In Printers (AREA)
- Ink Jet (AREA)
- Control Of Electric Motors In General (AREA)
Description
エンコーダセンサが阻害領域を通過する過程では、エンコーダ信号から検出可能な制御出力の精度が下がる。エンコーダ信号から検出される制御出力の精度が低い環境では、被駆動体の運動を高精度に制御することは難しくなる。
図1に示す本実施形態の画像形成システム1は、給紙トレイに収容された用紙Pを一枚ずつ分離及び搬送し、用紙Pへの画像形成を行うインクジェットプリンタである。
Claims (10)
- モータと、
前記モータによって駆動される被駆動体と、
エンコーダスケールと、
前記被駆動体と連動して前記エンコーダスケールに対して相対移動し、前記エンコーダスケールの読取に基づくエンコーダ信号を出力するように構成されるエンコーダセンサと、
前記エンコーダ信号に基づいて前記モータを制御することにより、前記被駆動体の運動を制御するように構成されるコントローラと、
を備え、
前記コントローラは、
前記エンコーダ信号に基づき、前記エンコーダセンサの前記エンコーダスケールに対する相対的な移動範囲であって、前記エンコーダセンサが前記読取を阻害する阻害物が付着した前記エンコーダスケールの部分を読み取る移動範囲である阻害領域を推定し、
前記推定した前記阻害領域を前記エンコーダセンサが通過した後の前記エンコーダ信号に基づき、前記阻害領域における前記モータの制御誤差を算出し、
前記算出した制御誤差に基づき、前記阻害領域を前記エンコーダセンサが通過する期間における前記モータに対する制御入力の補正量を決定し、
前記決定した前記補正量に基づき、前記阻害領域を前記エンコーダセンサが通過する期間における前記モータに対する制御入力を補正するように、前記モータを制御する
駆動システム。 - 前記コントローラは、前記エンコーダ信号に基づき、前記被駆動体の運動パラメータを測定し、
前記コントローラは、前記制御誤差として、前記阻害領域を前記エンコーダセンサが通過した後の前記エンコーダ信号に基づく前記運動パラメータの測定値と前記運動パラメータの目標値との偏差を算出し、前記算出した偏差に基づき、前記偏差を低減する方向に前記制御入力を補正するための前記補正量を決定する
請求項1記載の駆動システム。 - 前記コントローラは、前記阻害領域を前記エンコーダセンサが通過する期間では、予め定められたフィードフォワード制御用の制御入力を用いて、前記モータを制御し、前記阻害領域を前記エンコーダセンサが通過する前及び後では、前記運動パラメータの測定値と前記運動パラメータの目標値との偏差に基づき、フィードバック制御用の制御入力を算出し、算出した制御入力を用いて、前記モータを制御し、
前記補正量は、前記フィードフォワード制御用の制御入力の補正に用いられる請求項2記載の駆動システム。 - 前記運動パラメータは、前記被駆動体の速度であり、
前記コントローラは、前記エンコーダ信号に基づき前記被駆動体の前記速度を測定し、前記被駆動体が目標速度で定速運動するように、前記モータを制御し、
前記コントローラは、前記阻害領域を前記エンコーダセンサが通過した後の前記速度の測定値と前記目標速度との偏差に基づき、前記被駆動体を前記目標速度で定速運動させるための前記補正量を決定する請求項2又は請求項3記載の駆動システム。 - 前記被駆動体は、前記エンコーダセンサと共に、前記エンコーダスケールに対して第一の方向及び前記第一の方向とは異なる第二の方向に相対移動するように配置され、
前記コントローラは、
前記制御誤差として、前記エンコーダセンサが前記エンコーダスケールに対して前記第一の方向に相対移動するときの前記阻害領域における前記モータの制御誤差である第一の制御誤差を算出し、更には、前記エンコーダセンサが前記エンコーダスケールに対して前記第二の方向に相対移動するときの前記阻害領域における前記モータの制御誤差である第二の制御誤差を算出し、
前記補正量として、前記第一の制御誤差に基づき、前記阻害領域を前記エンコーダセンサが前記第一の方向に通過する期間における前記モータに対する制御入力の補正量である第一の補正量を決定し、前記第二の制御誤差に基づき、前記阻害領域を前記エンコーダセンサが前記第二の方向に通過する期間における前記モータに対する制御入力の補正量である第二の補正量を決定する
請求項1~請求項4のいずれか一項記載の駆動システム。 - 前記被駆動体は、前記エンコーダセンサと共に、前記エンコーダスケールに沿って、前記第一の方向及び前記第一の方向とは逆方向である前記第二の方向に直線往復運動するように配置される請求項5記載の駆動システム。
- 前記被駆動体は、前記エンコーダセンサが前記阻害領域を繰返し通過するように運動し、
前記コントローラは、
前記エンコーダセンサが前記阻害領域を通過する事象の発生毎に、前記事象終了後の前記エンコーダ信号に基づき、前記制御誤差を算出し、更には、前記制御誤差に基づき前記補正量を決定し、前記決定後、前記エンコーダセンサが再び前記阻害領域を通過する期間における前記モータに対する制御入力を、前記決定した前記補正量に基づいて補正する請求項1~請求項4のいずれか一項記載の駆動システム。 - 前記被駆動体は、前記エンコーダセンサが前記阻害領域を繰返し通過するように運動し、
前記コントローラは、
前記エンコーダセンサが前記阻害領域を前記第一の方向に通過する第一の事象の発生毎に、前記第一の事象終了後の前記エンコーダ信号に基づき、前記第一の制御誤差を算出し、更には、前記第一の制御誤差に基づき前記第一の補正量を決定し、前記決定後に前記エンコーダセンサが前記阻害領域を再び前記第一の方向に通過する期間における前記モータに対する制御入力を、前記決定した前記第一の補正量に基づいて補正し、
前記エンコーダセンサが前記阻害領域を前記第二の方向に通過する第二の事象の発生毎に、前記第二の事象終了後の前記エンコーダ信号に基づき、前記第二の制御誤差を算出し、更には、前記第二の制御誤差に基づき前記第二の補正量を決定し、前記決定後に前記エンコーダセンサが前記阻害領域を再び前記第二の方向に通過する期間における前記モータに対する制御入力を、前記決定した前記第二の補正量に基づいて補正する
請求項5又は請求項6記載の駆動システム。 - 前記被駆動体は、加工対象物に対して所定の加工を行う処理ヘッドを搭載し、前記処理ヘッドを前記加工対象物と対向させて移動するキャリッジであり、
前記駆動システムは、前記キャリッジの搬送システムである請求項1~請求項8のいずれか一項記載の駆動システム。 - 前記処理ヘッドは、前記加工対象物としての被吐出対象物に液滴を吐出する液滴吐出装置である請求項9記載の駆動システム。
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JP2019166986A JP7327026B2 (ja) | 2019-09-13 | 2019-09-13 | 駆動システム |
US17/001,755 US11318771B2 (en) | 2019-09-13 | 2020-08-25 | Motor driving system |
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Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6371593B1 (en) | 2001-01-05 | 2002-04-16 | Acer Communication And Multimedia Inc. | Error detection and correction for printer positioning logic |
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US10427437B2 (en) | 2017-03-27 | 2019-10-01 | Brother Kogyo Kabushiki Kaisha | Ink-jet printer |
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JP2008090233A (ja) | 2006-10-05 | 2008-04-17 | Canon Inc | 速度制御装置および画像形成装置 |
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