JP2009263044A - Motor controller, fluid injection device, and motor control method - Google Patents

Abstract

To provide a motor control device, a printer, and a motor control method capable of accurately measuring a tension acting on a sheet and capable of controlling the tension based on a measurement result.
A first motor 33 that applies a driving force for rotating the roll body RP so as to supply the roll paper P from the roll body RP, and a downstream side of the roll body RP along the supply direction of the roll paper P. A roll body RP is driven by a second motor 53 that provides a driving force for driving the conveyance driving roller 51 a for conveying the roll paper P, and a first motor 33 and a second motor 53. Based on the tension measurement means 35 for measuring the tension acting on the roll paper P drawn from the tension paper and the measurement result of the tension by the tension measurement means 35, the drive of at least one of the first motor 33 and the second motor 53 is controlled. Motor control means.
[Selection] Figure 7

Description

  The present invention relates to a motor control device, a fluid ejection device, and a motor control method.

Among the ink jet printers, there is a type that uses a large paper having a paper size of A2 or larger. In such large-format ink jet printers, so-called roll paper (hereinafter, a so-called roll paper around which the paper is wound is used as a roll body and a portion pulled out from the roll body is used as paper) is used in addition to the cut paper. There are many cases. At present, the paper is drawn from the roll body by a paper feed motor (PF motor). At this time, the PF motor is controlled and driven by PID control. As a printer using such a roll body, there is one disclosed in Patent Document 1. Further, there are printers that perform PID control as shown in Patent Documents 2 to 4.

JP 2007-290866 A JP 2006-240212 A JP 2003-79177 A JP 2003-48351 A

The roll body in a large-format printer is heavy, so that the load when pulling out the paper from the roll body is large. Therefore, there is a possibility that the paper breaks only by driving from the PF motor. Therefore, a model has been developed in which a roll motor for rotating the roll body is provided, and the roll motor is driven together with the PF motor to pull out the paper.

Here, as the paper is pulled out from the roll body, the diameter and weight of the roll body change. Therefore, when a certain output (electric power) is given to the roll motor, the sheet between the roll roller and the pair of transport rollers that are driven to rotate by the PF motor as the diameter and weight of the roll body change. The tension of the fluctuates greatly. If the tension variation described above occurs during printing of the paper, it may affect the print image quality. Therefore, it is desirable that the tension acting on the paper can be accurately measured. It is also desirable to perform motor control based on accurate tension measurement results.

The present invention has been made on the basis of the above-mentioned circumstances, and an object of the present invention is to accurately measure the tension acting on the paper and to control the tension based on the measurement result. The present invention intends to provide a fluid ejecting apparatus and a motor control method.

In order to solve the above-described problems, the present invention provides a first motor that provides a driving force for rotating a roll body to supply the roll paper from a roll body around which the roll paper is wound, and the supply of the roll paper A second drive motor, which is provided on the downstream side of the roll body along the direction and applies a driving force for driving the transport drive roller for transporting the roll paper; and a first motor and a second motor A tension measuring means for measuring the tension acting on the roll paper drawn from the roll body by driving, and a motor for controlling the driving of at least one of the first motor and the second motor based on the measurement result of the tension by the tension measuring means And a control means.

When configured in this way, the tension acting on the roll paper drawn from the roll body is measured by the tension measuring means. Further, based on the measurement result of the tension, the motor control unit controls driving of at least one of the first motor and the second motor. Therefore, the tension acting on the roll paper can be controlled appropriately. In particular, since the tension acting on the roll paper is directly measured by the tension measuring means, the tension acting on the roll paper can be accurately measured. Further, the tension acting on the roll paper can be controlled by controlling at least one of the first motor and the second motor by the motor control unit based on the accurate measurement result of the tension.

In another invention, in addition to the above-described invention, the motor control means obtains a deviation between the target tension measured by the tension measuring means and the actually measured tension. The control of at least one of the first motor and the second motor is performed so that becomes zero.

When configured in this manner, the tension acting on the roll paper is converged to the target tension. Thereby, it is possible to accurately control the tension acting on the roll paper.

Furthermore, in another invention, in addition to the above-described invention, the motor control means performs drive control of the first motor based on the measurement result of the tension by the tension measurement means.

In the case of such a configuration, it is possible to satisfactorily control the tension applied to the roll paper by driving the first motor for rotating the roll body by the motor control means.

In another invention, in addition to the above-described invention, the motor control means performs drive control of the first motor by PID control.

When configured in this way, PID control is performed based on the deviation between the target tension and the actually measured tension, so the tension acting on the roll paper can be accurately adjusted to the target tension. It is possible to follow.

According to another invention, in addition to the above-described inventions, the motor control means further includes a state in which the amount of roll paper fed by driving the second motor is larger than the amount of roll paper fed by driving the first motor. Thus, the driving of the first motor and the second motor is controlled.

When configured in this manner, the roll paper is given a tension due to a difference in feed amount between the first motor and the second motor. Therefore, not only does the roll paper not slack,
By always applying a predetermined tension, it is possible to improve the quality of a predetermined process such as printing on the downstream side of the conveyance.

Further, another invention includes the motor control device according to each of the above-described inventions, and further includes a fluid ejecting head that ejects fluid onto the roll paper. It is a part in between, and is provided in a pressing part pressed by the roll paper when changing the conveyance direction of the roll paper.

In such a configuration, in the fluid ejecting apparatus of the type in which the roll paper is drawn from the roll body, the tension acting on the roll paper drawn from the roll body is measured by the tension measuring unit. Further, based on the measurement result of the tension, the motor control unit controls driving of at least one of the first motor and the second motor. Therefore, the tension acting on the roll paper can be controlled appropriately. In particular, since the tension acting on the roll paper is directly measured by the tension measuring means, the tension acting on the roll paper can be accurately measured. Further, the tension acting on the roll paper can be controlled by controlling at least one of the first motor and the second motor by the motor control unit based on the accurate measurement result of the tension.

Further, the tension measuring means is provided in a portion between the roll body and the conveyance drive roller, and is provided in a pressing portion pressed by the roll paper when the conveyance direction of the roll paper is changed. Therefore, a pressing force corresponding to the tension acting on the roll paper acts on the pressing portion. Thereby, the tension acting on the roll paper can be accurately measured.

In another aspect of the invention, a first motor for applying a driving force for rotating the roll body to supply the roll paper from the roll body around which the roll paper is wound, and a roll along the supply direction of the roll paper The roll paper drawn from the roll body is driven by driving together with a second motor that is provided on the downstream side of the body and that is driven by a second motor that provides a driving force for driving the transport drive roller for transporting the roll paper. A tension measuring step for measuring the acting tension, and a motor control step for controlling the driving of at least one of the first motor and the second motor based on the measurement result of the tension in the tension measuring step. .

In such a configuration, the tension acting on the roll paper drawn from the roll body is measured by the tension measurement step. Further, based on the measurement result of the tension, in the motor control step, driving of at least one of the first motor and the second motor is controlled. Therefore, the tension acting on the roll paper can be controlled appropriately. In particular, since the tension acting on the roll paper is directly measured by the tension measuring means, the tension acting on the roll paper can be accurately measured. Further, the tension acting on the roll paper can be controlled by controlling at least one of the first motor and the second motor by the motor control unit based on the accurate measurement result of the tension.

Hereinafter, a printer 10 as a fluid ejecting apparatus including a motor control device (mainly a control unit 100) according to an embodiment of the present invention and a drive control method will be described with reference to FIGS. Note that the printer 10 according to the present embodiment is a printer for printing large-sized paper having a size of, for example, JIS standard A2 or larger. The printer in this embodiment is an ink jet printer. However, the ink jet printer may be an apparatus that employs any ejection method as long as the apparatus is capable of printing by ejecting ink.

In the following description, the lower side refers to the side where the printer 10 is installed, and the upper side refers to the side away from the installed side. Further, the side on which the paper P is supplied will be described as a feeding side (rear end side), and the side on which the paper P is discharged will be described as a paper discharge side (front side).

<Schematic Configuration of Printer 10>
As shown in FIG. 1, the printer 10 includes a pair of leg portions 11 and a main body portion 20 supported by the leg portions 11. The leg portion 11 is provided with a support column 12, and a rotatable caster 13 is attached to the caster support portion 14. Therefore, the printer 10
The user can freely move it.

Various types of internal devices are mounted on the main body 20 in a state of being supported by a chassis (not shown), and these are covered with an external case 21. Further, as shown in FIG.
0 includes a roll drive mechanism 30, a carriage drive mechanism 40, and a paper transport mechanism 50 as a drive system using a DC motor. Among these, the roll drive mechanism 30 is
It is provided on the roll mounting part 22 existing in the main body part 20. As shown in FIG. 1, the roll mounting portion 22 is provided on the back side and the upper side of the main body portion 20, and by opening an opening / closing lid 23 that is one element constituting the outer case 21 described above, A roll body RP is mounted inside the roll body RP, and the roll body RP can be rotationally driven by the roll drive mechanism 30.

Moreover, the roll drive mechanism 30 for rotating the roll body RP has a rotation holder 31, a gear wheel train 32, a roll motor 33, and a rotation detector 34, as shown in FIGS. ing. Among these, the rotation holder 31 is a hollow hole R provided in the roll body RP.
It is inserted from both ends of P1, and a pair is provided to support the roll body RP from both ends. The roll motor 33 corresponds to the first motor. This roll motor 3
3 gives a driving force (rotational force) via a gear wheel train 32 to a rotary holder 31 a located on one end side of the pair of rotary holders 31. Furthermore, the rotation detection unit 34 uses a rotary encoder in the present embodiment. Therefore, the rotation detection unit 34 includes a disk-shaped scale 34a and a rotary sensor 34b. The disc scale 34a is
A light transmitting portion that transmits light and a light blocking portion that blocks light transmission are provided at regular intervals along the circumferential direction. The rotary sensor 34b includes a light emitting element (not shown), a light receiving element (not shown), and a signal processing circuit (not shown) as main components.

In the present embodiment, pulse signals (A-phase ENC signal and B-phase ENC signal) whose phases are different from each other by 90 degrees as shown in FIG. 4 are input to the control unit 100 by the output from the rotary sensor 34b. Is done. Therefore, it is possible to detect whether the roll motor 33 is in the normal rotation state or the reverse rotation state by the progress / delay of the phase.

The main body 20 is provided with a carriage drive mechanism 40. The carriage drive mechanism 40 includes a carriage 41 that is a part of components of the ink supply / ejection mechanism, a carriage shaft 42, and other carriage motors and belts (not shown).

Among these, the carriage 41 includes an ink tank 43 for storing ink of each color (corresponding to fluid). The ink tank 43 is connected to the front side of the main body 20 via a tube (not shown). Ink can be supplied from an ink cartridge (not shown) fixedly provided on the printer. Further, as shown in FIG. 2, a print head 44 (corresponding to a fluid ejecting head) capable of ejecting ink droplets is provided on the lower surface of the carriage 41. The print head 44 is provided with a nozzle row (not shown) associated with each ink, and a piezo element (not shown) is arranged in the nozzle constituting the nozzle row. By operating the piezo element, it is possible to eject ink droplets from the nozzles at the end of the ink passage.

The carriage 41, the ink tank 43, a tube (not shown), the ink cartridge, and the print head 44 constitute an ink supply / ejection mechanism. The print head 44 is not limited to a piezo drive system using a piezo element. For example, a heater system that heats ink with a heater and uses the generated foam force, a magnetostriction system that uses a magnetostrictive element, and a mist that is controlled by an electric field. A mist method or the like may be employed. Ink cartridge / ink tank 4
Any kind of ink such as dye-based ink / pigment-based ink may be mounted on the ink filled in 3.

As shown in FIGS. 2 and 5, the paper transport mechanism 50 includes a transport roller pair 51 and a gear train 52.
And a PF motor 53 and a rotation detector 54. The conveyance roller pair 51 includes a conveyance driving roller 51a and a conveyance driven roller 51b, and a roll body RP is interposed between them.
A sheet P (corresponding to a roll sheet) drawn from the sheet can be held. Further, the PF motor 53 applies a driving force (rotational force) to the transport driving roller 51a via the gear wheel train 52. Further, the rotation detection unit 54 uses a rotary encoder in the present embodiment, and similarly to the rotation detection unit 34 described above, a disk-shaped scale 54a and a rotary sensor 54 are used.
b, and a pulse signal as shown in FIG. 4 can be output.

Further, a platen 55 is provided on the downstream side (discharge side) from the pair of conveying rollers 51, and the paper P is guided on the platen 55. The print head 44 is disposed on the platen 55 so as to face the platen 55. A suction hole 55 a is formed in the platen 55. On the other hand, the suction hole 55a is provided so as to be able to communicate with the suction fan 56. When the suction fan 56 is operated, air is sucked from the print head 44 side through the suction hole 55a. Thereby, when the paper P exists on the platen 55, the paper P can be sucked and held. In addition, the printer 10 includes other various sensors such as a paper width detection sensor that detects the width of the paper P.

Further, as shown in FIG. 5, a pressing portion Q is provided in the middle of the conveyance path of the paper P. The pressing portion Q is a portion where the conveyance direction of the paper P changes, and is a portion where the pressing force (stress) as shown in FIG. The pressing portion Q exists at a bending point where a part of the frame that is a part of the transport path of the paper P is bent, or a place where the curvature is the largest in the transport path. In addition, as shown in FIG. 6, the angle formed by the vector in the traveling direction of the paper P downstream from the pressing portion Q and the vector in the traveling direction of the paper P upstream from the pressing portion Q is 180 degrees. Has a small obtuse angle. For this reason, when the tension F is applied to the paper P (that is, the tension F is applied before and after the pressing portion Q in the transport direction of the paper P), the resultant force of the front and rear tension F is applied to the pressing portion Q. It will be in the state which acts.

In addition, a pressing force measuring device 35 corresponding to the tension measuring means is provided at a predetermined position in the width direction of the paper P in the pressing portion Q. As shown in FIG. 5, the pressing force measuring device 35 is a sensor for measuring the pressing force, which is the resultant force of the tension F applied by the paper P. As the pressing force measuring device 35, a method using a strain gauge (typical example is a load cell), a method using a piezoelectric element, a capacitance method using a change in capacitance of a capacitor, and a tuning fork type using a change in vibration frequency. Etc.

A signal related to the pressing force measured by the pressing force measuring device 35 is input to the roll motor control unit 120 as shown in FIG. The roll motor control unit 120 performs feedback control based on the measurement result of the pressing force measuring device 35, as will be described later. As shown in FIG. 6, the relationship between the pressing force and the tension F corresponds one-to-one (corresponds directly), but the calculation for obtaining the tension F from the pressing force will be described later. This may be performed by the output calculation unit 140a. This pressing force is tension F
This pressing force may be used as a substitute value for the tension F.

The pressing force measuring device 35 is installed at a position in the width direction of the paper P that is a predetermined distance from the home position and that can measure the tension F of the paper P satisfactorily. Here, the paper P has various sizes. Therefore, the pressing force measuring device 35 in the present embodiment is provided to be arbitrarily movable according to the size (paper width) of the paper P. However, the pressing force measuring device 35 may be positioned in the width direction close to the side where the paper feed guide with which the edge of the paper P abuts and be fixed. Further, the pressing force measuring device 35 is not limited to the case where only one is provided, and a configuration in which a plurality of pressing force measuring devices 35 are arranged at predetermined intervals may be adopted. When a plurality of pressing force measuring devices 35 are arranged, it is preferable to employ the maximum value among the pressing forces measured by the plurality of pressing force measuring devices 35 in order to prevent the paper P from being torn. However, an average value of the plurality of pressing force measuring devices 35 may be calculated and this average value may be adopted as the pressing force.

<Regarding the control unit>
Next, the control unit 100 will be described with reference to FIGS. The control unit 100 is a part that performs various controls. The control unit 100 includes a roll motor 33, P, which will be described later.
It is a part for realizing control of the F motor 53, and is a part that functions as a motor control device, load control means, and motor control means. The controller 100 includes the rotary sensor 3 described above.
Output signals such as 4b and 54b, a linear sensor (not shown), a paper width detection sensor (not shown), a gap detection sensor (not shown), and a power switch for turning on / off the printer 10 are input.

As shown in FIG. 2, the control unit 100 includes a CPU 101, ROM 102, RAM 103, P
A ROM 104, an ASIC 105, a motor driver 106, and the like are provided, and these are connected via a transmission path 107 such as a bus. The control unit 100 is connected to the computer COM. And these hardware, ROM102 and PROM1
The main controller 110 and roll motor control as shown in the block diagram of FIG. 7 by the cooperation of software and / or data stored in 04 or the addition of circuits and components for performing specific processing, etc. The unit 120 and the PF motor control unit 130 are realized.

Among these, the main control unit 110 includes a roll motor 33 and a PF motor 53 as will be described later.
A command is given to both the roll motor control unit 120 and the PF motor control unit 130 in order to realize synchronous driving (synchronous driving). In addition, the roll motor control unit 120 and the PF
Output calculation units 140a and 140b (hereinafter simply referred to as output calculation unit 140 when there is no need to distinguish between both) are realized in both motor control units 130, respectively. In the output calculation unit 140a, the motor actual output value Dx as described later is not performed without performing the PID calculation.
The output control for calculating is performed. Moreover, in the output calculation part 140b, the PID calculation for performing PID control is performed. First, based on FIG. 8, the block diagram of the output calculating part 140b for performing these PID calculations is demonstrated previously. Furthermore, the output calculation unit 140a may perform calculation for obtaining the tension F from the pressing force.

As shown in FIG. 8, the output calculation unit 140b includes a position calculation unit 141, a speed calculation unit 142, a first subtraction unit 143, a target speed generation unit 144, a second subtraction unit 145, and a proportional element 146.
, An integration element 147, a differentiation element 148, an adder 150, a PWM signal output unit 152, and a timer 153.

Among these, the position calculation unit 141 is input from the rotary sensors 34b and 54b.
The feed amount of the paper P is calculated by counting the edges of the output signal (see FIG. 4) which is a rectangular wave. Further, the speed calculation unit 142 counts the edges of the output signal that is a rectangular wave input from the rotary sensors 34b and 54b, and also receives a signal related to the time (cycle) measured by the timer 153. Then, the feeding speed of the paper P is calculated based on the counted edge and time (cycle).

Further, the first subtraction unit 143 is based on the information on the feed amount (current position) output from the position calculation unit 141 and the information on the target position (target stop position) output from the memory such as the ROM 102 or the PROM 104. The position deviation is calculated by subtracting the current position from the target position (target stop position). Information on the positional deviation output from the first subtraction unit 143 is input to the target speed generation unit 144. Then, the target speed generation unit 144 outputs information regarding the target speed according to the position deviation. The information on the target speed relates to a speed table as shown in FIG. As shown in FIG. 9, there are two speed tables, a speed table Roll for the roll motor 33 and a speed table PF for the PF motor 53.

The second subtracting unit 145 subtracts the feed speed (current speed) of the current motor (roll motor 33 or PF motor 53) from the target speed to calculate the speed deviation ΔV, and the proportional element 146, the integral element 147, and the derivative. Each is output to element 148. Proportional element 146, integral element 14
7 and the differential element 148, based on the input speed deviation ΔV, the following proportional control value QP
Then, an integral control value QI and a differential control value QD are calculated.
QP (j) = ΔV (j) × Kp (Expression 1)
QI (j) = QI (j−1) + ΔV (j) × Ki (Expression 2)
QD (j) = {ΔV (j) −ΔV (j−1)} × Kd (Formula 3)
Here, j is time, Kp is a proportional gain, Ki is an integral gain, and Kd is a differential gain.

The adder 150 adds the control values output from the proportional element 146, the integral element 147, and the differential element 148, and calculates the sum (total value; Qpid) of the control values obtained by the addition.
Output to the signal output unit 152.

The control value Qpid output from the adder 150 is input to the PWM signal output unit 152. In the PWM signal output unit 152, Du obtained by converting the supplied control value Qpid.
Output PWM signal of ty value. The timer 153 receives a signal from a clock (not shown). When a predetermined PID calculation period such as 100 μsec arrives, a timer signal is output to the speed calculation unit 142 for each PID calculation period.

The motor driver 106 controls and drives the roll motor 33 or the PF motor 53 by PWM control based on the PWM signal output from the PWM signal output unit 152.

Next, the output calculation unit 120a will be described. The output calculation unit 120a executes calculation for obtaining a motor actual output value Dx (this motor actual output value Dx corresponds to the interpolation output) described below. The calculation of the motor actual output value Dx is basically performed as shown in (Formula 4).
Duty (f), which is a duty value necessary to give a prescribed tension F that gives tension to prevent the slack from being loosened, is a duty value necessary to drive the roll motor 33 at a certain speed Vn. ) Is subtracted from
Dx = Duty (ro) −Duty (f) = aVn + b− (F × r / M) × Duty (max) / Ts
... (Formula 4)
Here, r is the radius of the roll body RP, Duty (max) is the maximum value of the Duty value, Kt is the motor constant of the roll motor 33, E is the power supply voltage value supplied to the roll motor 33, and M is the gear train 32.
, Ts is the starting torque of the roll motor 33, and coefficients a and b are values defined by the following (Expression 6) and (Expression 7). The above (formula 4) is obtained as follows.

In the above (Formula 4), the tension F is controlled so as to converge to a certain tension F (target tension F0) by performing feedback control as will be described later. . Further, in (Equation 4) described above, (F × r / M) is a torque due to the tension F in consideration of the reduction ratio of the gear train, and this torque (F × r / M) is expressed by the roll motor 33. When divided by the starting torque Ts, the dimensionless ratio (Duty (max)
(F × r / M) / Ts is obtained). By multiplying the dimensionless ratio (F × r / M) / Ts by Duty (max), the tension F
Duty (f), which is a duty value necessary to give

Here, the roll motor 33 is pulled through the paper P by the driving of the PF motor 53. Therefore, the roll motor 33 is driven at the same speed Vn as the PF motor 53 as a result. In the roll motor 33, the speed Vn is calculated based on the detection value detected by the rotary sensor 54b.

In addition, in order to drive the roll motor 33 at the same speed Vn as that of the PF motor 53, when the Duty (ro) that is a duty value necessary for driving the roll motor 33 at the speed Vn is given, the paper P is loosened. First, no tension is applied between the roll motor 33 and the PF motor 53. Therefore, the duty required to drive the roll motor 33 at the speed Vn.
If the duty value (Duty (f)) required to give the tension F is subtracted from the value Duty (ro), it is possible to give the paper P a tension F that does not cause the paper P to loosen. Become. As described above, the actual motor output value Dx of (Expression 4) is obtained.

<Regarding Calculation of Coefficients a and b in (Expression 4)>
In order to obtain a duty value required to drive the roll motor 33 at a certain speed Vn, a measurement operation is performed. In this measurement operation, as shown in FIG. 10, the roll body RP is rotationally driven at a low speed VL and a high speed VH. Then, a measurement value ave TiL required to drive the roll motor 33 at the low speed VL and a measurement value ave TiH required to drive the roll motor 33 at the high speed VH are calculated.
Note that the measurement value ave TiL and the measurement value ave TiH are averages of control values output from the integration element 127 when PID control is performed at each speed.

From the relationship of the linear expression as shown in FIG. 10, the duty (ro) for driving the roll motor 33 at a certain speed Vn can be easily obtained using the coefficients a and b.
Duty (ro) = aVn + b (Formula 6)
a = (ave TiH−ave TiL) / (VH−VL) (Expression 7)
b = ave TiH− (ave TiH−ave TiL) × VL / (VH−VL) (Equation 8)

Coefficients a and b are determined based on (Equation 7) and (Equation 8) as described above, and are reflected in (Equation 4).

<Regarding measurement of tension F>
Next, feedback control when the pressing force corresponding to the tension F is measured by the pressing force measuring device 35 will be described. In order to apply the specified tension F0, the above (Formula 4)
However, the tension actually measured by the pressing force measuring device 35 is often different from the target tension F0. Therefore, the deviation between the target tension F0 and the actually measured tension F1 is obtained, and the value of Duty (f) is increased or decreased so that this deviation becomes zero.

That is, assuming that the deviation is ΔF, ΔF = F 0 −F 1 is obtained, and ΔF is multiplied by a predetermined gain to calculate Duty (f) corresponding to the tension F among Duty values of the roll motor 33. Then, the duty actual value Dx is output to the roll motor 33 by reflecting the duty (f) in the above-described (formula 4). Further, the roll motor 33 is driven by this output.
In this driving, the tension F1 acting on the paper P is measured by the pressing force measuring device 35 and used for calculating the above-described deviation ΔF. By performing such feedback control, the tension F becomes in a state of following the target tension F0.

Here, examples of the feedback control described above include PID control, P control, and PI control as described in FIG. 8 and (Equation 1) to (Equation 3). However, the details are the same as the block diagram shown in FIG.

Further, in the actual output of the roll motor 33, it is necessary to prevent the paper P from being damaged. Therefore, in this tension control, in order not to exceed the tension which is a threshold value for preventing damage, the tension of the threshold value is compared with the actually measured tension F1, and the actually measured tension F1 is compared. May be configured to clip to the threshold tension.

<Control Method for Roll Motor 33 and PF Motor 53>
A method of synchro drive control of the roll motor 33 and the PF motor in the printer 10 having the above-described configuration will be described below based on the processing flow of FIG.

First, prior to driving the roll motor 33 and the PF motor 53, a measurement operation is executed (S01). In the measurement operation, the roll motor 33 is driven at two speeds VL and VH on the low speed side and the high speed side on the basis of a command from the main control unit 110, and thereby the coefficient a in the above-described (Equation 4) , B are obtained. PF motor 5
The measurement operation is executed in a state in which 3 is not driven.

Subsequently, the feed amount Lpf by driving the PF motor 53 is read from a memory such as the PROM 104 (S02). The feed amount Lpf is a value necessary to execute, for example, one pass of printing on the paper P.

When the feed amount Lpf is read in S02, driving of the roll motor 33 and the PF motor 53 is started based on a command from the main control unit 110 (S03). At this time, the PF motor 53 is driven according to the drive table as shown in FIG.
The actual motor output value Dx is determined based on the detected value related to the speed detected by the rotary sensor 34b. Further, when the roll motor 33 and the PF motor 53 are driven, the sheet P is more easily pulled out by driving the roll motor 33 than when the roll motor 33 does not generate any driving force.

In addition, when the roll motor 33 and the PF motor 53 are driven in S03, the roll P is driven while being controlled so that the tension F is applied to the paper P. In the control of the tension F, the actual motor output value Dx as shown in (Equation 4) is obtained by the calculation as described above in the output calculation unit 140a. Then, with this motor actual output value Dx, a prescribed tension F that gives a tension that prevents the sheet P from slackening from a duty value (Duty (ro)) required to drive the roll motor 33 at a certain speed Vn. Duty needed to give
The value Duty (f) is subtracted. At this time, the certain speed Vn is a driving speed when the roll motor 33 is pulled through the paper P by the driving of the PF motor 53 and is rotated as a result. As described above, by reducing Duty (f) from Duty (ro), the paper P is in a state where the tension F is applied. When the driving while controlling the tension in S03 as described above proceeds, the paper P is in a state in which the tension F acts on the print head 4.
4 is sent to the part opposite to 4.

In addition, in the tension control of S03, as described above, the pressing force is measured by the pressing force measuring device 35, and feedback control is performed based on the tension F1 corresponding to the measured pressing force. By this feedback control, a deviation between the target tension F0 and the actually measured tension F1 is obtained, and the value of Duty (f) is increased or decreased so that this deviation becomes zero.

Note that the target tension F0 can be adjusted. That is, the value of the tension F0 can be adjusted as a variable according to the type and size of the paper P, printing characteristics, and the like.

Further, during the process of S03 as described above, the main control unit 110 determines whether or not a predetermined feed amount Lpf has been sent at every predetermined timing (S04).

In S04 described above, when it is determined that a predetermined feed amount Lpf has been sent (Yes), the driving of the roll motor 33 and the PF motor 53 is stopped (
S05).

Subsequently, the print head 44 is driven while the print head 44 scans in the width direction of the paper P by driving a carriage motor (not shown) (S06). As a result, ink droplets adhere to the paper P, and printing for one pass is executed. When the printing for one pass is completed, it is then determined whether or not the paper feeding for all passes has been completed (S07). And
If it is determined in this determination that the paper feeding of all the passes has been completed (in the case of Yes), a series of processing ends. If it is determined in S07 that the paper feeding of all the passes has not been completed (No), the process returns to S02 and a series of processing continues.

If it is determined in the above-described determination in S04 that only the predetermined feed amount Lpf has not been sent (in the case of No), the process returns to S03 and the processing is continued.

<Effects of application of the present invention>
According to the printer 10 having the above-described configuration, the roll body R is pressed by the pressing force measuring device 35.
The tension F acting on the paper P drawn from P is measured. Further, based on the measurement result of the tension F, the control unit 100 controls the driving of the roll motor 33. Therefore, the tension F acting on the paper P can be controlled appropriately. In particular, since the tension F1 acting on the paper P is directly measured by the pressing force measuring device 35, the tension acting on the paper P can be accurately measured.

Also, based on the tension F1 measured by the pressing force measuring device 35, the roll motor 33 is used.
Since the feedback control is performed, the tension F acting on the paper P is converged to the target tension F0. Thereby, the tension F acting on the paper P can be controlled with high accuracy.

Further, the control unit 100 may perform PID control when controlling the tension F. In this case, the tension F acting on the paper P is set to the target tension F0.
Can be accurately followed

Further, in the present invention, the roll motor 33 and the P in a state where the feed amount of the paper P by driving the PF motor 53 is larger than the feed amount of the paper P by driving the roll motor 33.
The drive of the F motor 53 can be controlled. In this case, the roll motor 33 is applied to the paper P.
And the tension F caused by the difference in the feed amount between the PF2 motor 53 and the PF2 motor 53 can be reliably applied, thereby improving the print quality on the downstream side of the conveyance of the paper P.

In this embodiment, the pressing force measuring device 35 includes the roll body RP and the transport driving roller 51.
It is provided in the site | part between a, and it is provided in the press part Q as shown in FIG.
Therefore, a pressing force corresponding to the tension F acting on the paper P acts on the pressing portion Q.
Thereby, the tension F acting on the paper P can be measured with high accuracy.

<Modification>
Although one embodiment of the present invention has been described above, the present invention can be variously modified. This will be described below. In the above embodiment, the motor control device is the printer 10.
The case where it is provided is described. However, the motor control device is not limited to being provided in the printer 10, and may be applied to a fax machine using a roll body (roll paper). In the above-described embodiment, the paper P is a roll paper, but other than the paper P, a film-like member, a resin sheet, an aluminum foil, or the like may be used.

In the above-described embodiment, when detecting a level change of the output signal (ENC signal),
Two ENC signals of A phase and B phase are used. However, in detecting the level change of the output signal, only one ENC signal, or three or more E's having different phases from each other.
You may comprise so that NC signal may be used.

Further, the control unit 100 is not limited to the above-described embodiment, and for example, the ASIC 105
The control unit 1 may be configured to control the roll motor 33 and the PF motor 53 alone, or in combination with a one-chip microcomputer incorporating various peripheral devices in addition to these.
00 may be configured.

Furthermore, in the above-described embodiment, the PID control in the control unit 100 is performed with respect to the speed, but PID control regarding the position may be performed. The control of the PF motor 53 is not limited to PID control, and the present invention may be applied to PI control.

The printer 10 in the above-described embodiment may be a part of a complex device such as a scanner device or a copy device. Furthermore, in the above-described embodiment, the ink jet printer 10 has been described. However, the printer 10 is not limited to an ink jet printer as long as it can eject fluid. For example, the present invention can be applied to various printers such as a gel jet printer, a toner printer, and a dot impact printer.

Further, the tension measuring means is not limited to the above-described pressing force measuring device 35. For example, the pressing portion Q is provided with a roller protruding in the conveyance path, and a load measuring device for detecting a load is attached to the bearing of this roller. Thus, it may be configured.

Further, in the above-described embodiment, the roll motor 33 is controlled so as to follow the target tension F0, but the control of the PF motor 53 or the roll motor 3 is performed.
3 and the PF motor 53 may be controlled to follow the target tension F0.

1 is a perspective view illustrating a configuration of a printer according to an embodiment of the present invention. It is a figure which shows schematic structure of the printer of FIG. It is a perspective view which shows the structure of the rotation holder holding a roll body. It is a figure which shows an ENC signal. It is a figure which shows the positional relationship of a roll body, a conveyance roller pair, and a print head. It is a figure which shows the relationship between tension and pressing force. It is a block diagram which shows an example of a structure of a control part. It is a block diagram which shows schematic structure of a PID calculating part. It is a figure which shows an example of a speed table. It is a figure which shows the relationship between the Duty value and speed | velocity | rate in measurement operation | movement. It is a figure which shows the operation | movement flow in synchro drive control.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Printer, 20 ... Main-body part, 30 ... Roll drive mechanism, 33 ... Roll motor (corresponding to 1st motor, 34, 54 ... Rotation detection part, 34b, 54b ... Linear sensor, 35 ... Pressing force measuring device (Tension measurement) Corresponding to the means), 40... Carriage drive mechanism, 44... Print head (
(Corresponding to fluid ejecting head), 50... Paper transport mechanism, 51... Transport roller pair, 53... PF motor (corresponding to the second motor), 100 .. control unit (corresponding to motor control device, load measuring means, motor control means) , 110 ... main control unit, 120 ... roll motor control unit, 130 ... PF motor control unit, 140a, 140b ... output calculation unit, RP ... roll body, P ... paper (corresponding to web), Q
... Pressing part

Claims (7)

A first motor for providing a driving force for rotating the roll body to supply the roll paper from the roll body around which the roll paper is wound;
A second motor for supplying a driving force for driving a transport driving roller for transporting the roll paper, which is a transport driving roller provided on the downstream side of the roll body along the supply direction of the roll paper;
Tension measuring means for measuring a tension acting on the roll paper drawn from the roll body by driving of the first motor and the second motor;
Motor control means for controlling the driving of at least one of the first motor and the second motor based on the measurement result of the tension by the tension measuring means;
A motor control device comprising: The motor control means obtains a deviation between the target tension measured by the tension measuring means and the actually measured tension, so that the deviation becomes zero, and the first motor and the The motor control device according to claim 1, wherein at least one of the second motors is controlled. The motor control device according to claim 2, wherein the motor control unit performs drive control of the first motor based on a measurement result of the tension by the tension measurement unit. 4. The motor control device according to claim 3, wherein the motor control means performs drive control of the first motor by PID control. The motor control means is configured so that the amount of roll paper fed by driving the second motor is larger than the amount of roll paper fed by driving the first motor. The motor control device according to any one of claims 1 to 4, wherein the driving of the motor is controlled. While comprising the motor control device according to any one of claims 1 to 5,
A fluid ejection head that ejects fluid to the roll paper;
The tension measuring means is a portion between the roll body and the transport driving roller,
Provided in the pressing portion pressed by the roll paper when changing the transport direction of the roll paper,
A fluid ejecting apparatus. A first motor for providing a driving force for rotating the roll body to supply the roll paper from the roll body around which the roll paper is wound; and a downstream side of the roll body along the supply direction of the roll paper It acts on the roll paper drawn out from the roll body by driving together with a second motor that is provided on the side and that drives a second motor that provides a driving force for driving the transport drive roller for transporting the roll paper. A tension measurement process for measuring tension;
A motor control step for controlling the driving of at least one of the first motor and the second motor based on the measurement result of the tension in the tension measurement step;
A motor control method comprising:

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