JPH02151290A - Motor control system - Google Patents
Motor control systemInfo
- Publication number
- JPH02151290A JPH02151290A JP63301048A JP30104888A JPH02151290A JP H02151290 A JPH02151290 A JP H02151290A JP 63301048 A JP63301048 A JP 63301048A JP 30104888 A JP30104888 A JP 30104888A JP H02151290 A JPH02151290 A JP H02151290A
- Authority
- JP
- Japan
- Prior art keywords
- motor
- pulse width
- encoder
- constant
- cpu
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 claims description 7
- 238000002474 experimental method Methods 0.000 abstract description 3
- 230000032683 aging Effects 0.000 abstract 1
- 230000007257 malfunction Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Landscapes
- Control Of Direct Current Motors (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明はモータ制御方式に係り、特に複写機のスキャナ
に用いられるDCサーボモータ制御方式〔従来の技術〕
サーボモータ制′4]1方式は、モータに取り付けられ
たエンコーダのパルス幅測定値と目標値を比較し、両者
の差をもとに比較項と積分項を算出し、この和をとって
モータ駆動のパルス幅が決定される。[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a motor control system, and in particular, a DC servo motor control system used in a scanner of a copying machine [Prior Art] Servo motor system '4] 1 system is , the pulse width measurement value of the encoder attached to the motor is compared with the target value, a comparison term and an integral term are calculated based on the difference between the two, and the pulse width of the motor drive is determined by taking the sum of these terms.
一方、この時、比例項、積分項には定数が乗されている
。この定数は回転精度に係わるもので、従来は実験的に
一番良い性能を発揮できる値を求めて予めROMに書き
込まれていた。On the other hand, at this time, the proportional term and the integral term are multiplied by a constant. This constant is related to rotation accuracy, and in the past, the value that would give the best performance was experimentally determined and written in advance in the ROM.
しかしながら、予めROMに書き込まれた定数のデータ
は、モータあるいはその他のばらつきにより、どの機械
でも最適値となるとは限らない。However, the constant data written in the ROM in advance may not always be the optimum value for every machine due to variations in the motor or other factors.
また実験の時と実機で条件が変わったり、経時変化で条
件が変わったりして、設定された定数では性能が発揮で
きない場合もある。Additionally, the conditions may change between the experiment and the actual machine, or may change over time, making it impossible to achieve performance with the set constants.
その結果、モータ回転の安定性、回転精度、立上がり時
の安定性に問題があった。As a result, there were problems with motor rotational stability, rotational accuracy, and stability at startup.
従って、このモータを複写機のスキャナ駆動用に用いる
場合、回転の安定性が悪いとジッターとなって現れる、
回転精度(目標速度に対して)が悪いと光学系(レンズ
関係)の倍率とずれが生じるため縦横比が異なった画像
となる(ずれが激しいとピンボケのような画像になる)
、立上がり特性が悪いとスキャナの助走距離を長くする
必要が生じる、等の問題が生じる。Therefore, when this motor is used to drive a scanner in a copying machine, poor rotational stability will result in jitter.
If the rotation accuracy (relative to the target speed) is poor, the magnification of the optical system (lens-related) will shift, resulting in an image with a different aspect ratio (if the shift is severe, the image will appear out of focus)
, if the start-up characteristics are poor, problems arise, such as the need to lengthen the run-up distance of the scanner.
また、ズーム変倍機能を持つ場合は広範囲の速度変化に
適応する性能がスキャナ駆動モータに要求される。尚、
使われるモータは可変速のためDCモータ、ステッパモ
ータなどが多い。Furthermore, when a zoom magnification function is provided, the scanner drive motor is required to have the ability to adapt to a wide range of speed changes. still,
Since the motors used are variable speed, DC motors, stepper motors, etc. are often used.
本発明は上記従来技術の欠点を解消し、信頼性の高いモ
ータとすることができるモータ制御方式を提供すること
を目的とする。SUMMARY OF THE INVENTION An object of the present invention is to provide a motor control method that eliminates the drawbacks of the prior art and provides a highly reliable motor.
この目的を達成するために本発明は、エンコーダのパル
スによってモータの回転速度を検出し、目標速度との誤
差からモータの駆動パルスの幅を算出し、これに基づき
モータの駆動制御を行うディジタルサーボ方式のモータ
制御方式において、モータの定常駆動に先立って試験的
にモータを回転させ、この時のデータを記憶してモータ
制御の計算データに用いることを特徴とする。To achieve this objective, the present invention has developed a digital servo system that detects the rotational speed of the motor using encoder pulses, calculates the width of the motor drive pulse from the error with the target speed, and controls the motor drive based on this. This motor control method is characterized in that the motor is rotated on a trial basis prior to steady driving of the motor, and the data at this time is stored and used as calculation data for motor control.
本発明では、電源オンの時などに例えば複写機のスキャ
ナにおいてはプレスキャンを行い、この時にモータ制御
に必要なデータを採集することによって各機械毎に常に
最適な定数を得ることができ、その結果安定したスキャ
ナの動作が約束される。In the present invention, when the power is turned on, for example, the scanner of a copying machine performs a pre-scan, and by collecting the data necessary for motor control at this time, it is possible to always obtain the optimum constants for each machine. As a result, stable scanner operation is guaranteed.
以下、本発明の実施例を図面を参照して説明する。 Embodiments of the present invention will be described below with reference to the drawings.
第1図は本発明の一実施例に係るモータ制御方式のブロ
ック図であって、DCモータlに付けられたエンコーダ
(図示せず)からエンコーダクロックがパルスカウンタ
2に入力されてパルス幅が測定される。CPU3では測
定されたパルス幅データと目標値とを比較してモータl
に加える駆動パルス幅を算出する。そして、パルス発生
器4から発生されたクロックによってトランジスタ5が
駆動される。このクロックは10〜20KHz程度に設
定されており、このクロックパルスによりDCモータl
は定速で回転する。この図ではモータlの回転方向は1
方向に限られるが、スキャナに用いる場合はトランジス
タをH型に構成して2方向に回転出来るようにする。FIG. 1 is a block diagram of a motor control system according to an embodiment of the present invention, in which an encoder clock is input from an encoder (not shown) attached to a DC motor l to a pulse counter 2, and the pulse width is measured. be done. The CPU 3 compares the measured pulse width data with the target value and
Calculate the driving pulse width to be added to Then, the transistor 5 is driven by a clock generated from the pulse generator 4. This clock is set at about 10 to 20 KHz, and this clock pulse controls the DC motor l.
rotates at a constant speed. In this figure, the rotation direction of motor l is 1
Although limited in direction, when used in a scanner, the transistor is configured in an H-type so that it can rotate in two directions.
第2図に駆動パルス幅算出部分の要部の11 jTJブ
ロックを示す、CPU3内部での計算手順である、エン
コーダパルス幅測定値と目標値を比較して(差をとって
)、その差を基に比例項5と積分項6を算出する。比例
項5は差に定数を乗じたものである。積分項6は前回の
積分項に差を加えたもの(積分項−前回の積分項+差)
であり、言わばその時までの差の積み上げである。速度
が目標と等しい場合には、比例項5は0となるが、積分
項6はその求め方により、その時までの積分項の値を維
持する。この計算された比例項5と積分項6との和をと
ってモータ駆動のパルス幅が決定される。Figure 2 shows the 11jTJ block that is the main part of the drive pulse width calculation part. This is the calculation procedure inside the CPU 3. The encoder pulse width measurement value and the target value are compared (taken the difference), and the difference is calculated. Based on this, the proportional term 5 and the integral term 6 are calculated. Proportional term 5 is the difference multiplied by a constant. Integral term 6 is the previous integral term plus the difference (integral term - previous integral term + difference)
It is, so to speak, an accumulation of differences up to that point. When the speed is equal to the target, the proportional term 5 becomes 0, but the integral term 6 maintains its value up to that point depending on how it is determined. The motor drive pulse width is determined by adding the calculated proportional term 5 and integral term 6.
この制御方式をディジタルサーボと呼ぶ。この図の例で
はエンコーダのパルス幅でモータ速度を表しているが、
もちろん制御目標とする数値を速度としても問題はない
。This control method is called digital servo. In the example in this figure, the motor speed is expressed by the encoder pulse width, but
Of course, there is no problem if the numerical value used as the control target is speed.
前述したように、比例項5の定数、積分項6の定数は、
本発明では電源オン時など、モータlの定常駆動に先立
って試験的にモータエを駆動して決定する。As mentioned above, the constant of the proportional term 5 and the constant of the integral term 6 are:
In the present invention, the determination is made by driving the motor 1 on a trial basis prior to steady driving of the motor 1, such as when the power is turned on.
以下、その方式を説明する。The method will be explained below.
予め、実験で有効そうな比例項5の定数や積分項6の定
数の範囲を求めておく。この範囲内のどの値をとっても
モータ1の回転が異常にならないように決めてあって、
モータ1の試験駆動時に次々とその範囲で値を変えなが
ら、その時の回転状態をチエツクし、一番特性の良い定
数を決定する。In advance, ranges of the constant of the proportional term 5 and the constant of the integral term 6 that are likely to be effective in experiments are determined. It is determined so that the rotation of motor 1 does not become abnormal no matter which value is taken within this range.
During a test drive of the motor 1, the rotational state at that time is checked while changing the values one after another within that range, and the constant with the best characteristics is determined.
特性を判断する基準としては、パルス幅のデータを記憶
しておき、それらの平均値と標準偏差をとり、平均値が
目標値に近く標準偏差が少ないものを選択する。この時
、採集するデータの数をエンコーダ1周あたりのパルス
数の倍数にするとエンコーダのばらつきによる影響を少
なくできる。As a criterion for determining the characteristics, pulse width data is stored, their average value and standard deviation are taken, and the one whose average value is close to the target value and whose standard deviation is small is selected. At this time, if the number of data to be collected is a multiple of the number of pulses per revolution of the encoder, the influence of variations in the encoder can be reduced.
ところで複写機において、原稿像と複写紙の位置合わせ
に際し、複写紙の動きを基準にする場合、紙がある位置
に来た時、スキャナを動かし始めるということになり、
スキャナの立上がり時間(スキャナを動かし始めてから
原稿の先端部の位置に来るまでの時間)を正確に把握す
る必要がある。By the way, in a copying machine, when aligning the original image and copy paper, if the movement of the copy paper is used as a reference, the scanner will start moving when the paper reaches a certain position.
It is necessary to accurately grasp the scanner's rise time (the time from when the scanner starts moving until it reaches the position of the leading edge of the document).
この立上がり時間も試験駆動を行えば正確に測定するこ
とができ、その時間によってスキャナをスタートさせる
べき時刻を決定できる。This rise time can also be accurately measured by performing a test drive, and the time at which the scanner should be started can be determined based on that time.
以上説明したように、本発明によれば、機械の固体差や
経時変化の制御への影響を自動的に排除して信頼性の高
いモータ制御を行うことができる。As described above, according to the present invention, highly reliable motor control can be performed by automatically eliminating the influence of individual machine differences and changes over time on control.
第1図は本発明の一実施例に係るモータ制御ブロック図
、第2図はその要部のブロック図である。
1・・・モータ、5・・・比例項、6・・・積分項。FIG. 1 is a motor control block diagram according to an embodiment of the present invention, and FIG. 2 is a block diagram of the main parts thereof. 1... Motor, 5... Proportional term, 6... Integral term.
Claims (1)
、目標速度との誤差からモータの駆動パルスの幅を算出
し、これに基づきモータの駆動制御を行うディジタルサ
ーボ方式のモータ制御方式において、モータの定常駆動
に先立つて試験的にモータを回転させ、この時のデータ
を記憶してモータ制御の計算データに用いることを特徴
とするモータ制御方式。In the digital servo motor control method, the motor rotation speed is detected by encoder pulses, the width of the motor drive pulse is calculated from the error with the target speed, and the motor drive is controlled based on this. A motor control method characterized by rotating the motor on a trial basis prior to steady driving, storing data at this time and using it as calculation data for motor control.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP63301048A JPH02151290A (en) | 1988-11-30 | 1988-11-30 | Motor control system |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP63301048A JPH02151290A (en) | 1988-11-30 | 1988-11-30 | Motor control system |
Publications (1)
Publication Number | Publication Date |
---|---|
JPH02151290A true JPH02151290A (en) | 1990-06-11 |
Family
ID=17892235
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP63301048A Pending JPH02151290A (en) | 1988-11-30 | 1988-11-30 | Motor control system |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH02151290A (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009005575A (en) * | 2007-05-24 | 2009-01-08 | Kyocera Mita Corp | Motor drive controller and image forming apparatus |
-
1988
- 1988-11-30 JP JP63301048A patent/JPH02151290A/en active Pending
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009005575A (en) * | 2007-05-24 | 2009-01-08 | Kyocera Mita Corp | Motor drive controller and image forming apparatus |
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