JP2016020264A - Motor control unit and recording device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a motor control unit capable of suppressing variations of tension applied to a medium unwound from a roll body.SOLUTION: A motor control unit comprises: a drive section driving a roll motor 33 rotating a roll body on the basis of a control amount when a medium unwound from the roll body wound with the medium is fed by a feed roller; a feed speed acquisition section acquiring a feed speed of the medium by rotation of the roll body; a determination section 167 determining whether or not the feed speed acquired exceeds a target feed speed; and a control amount output section 170 increasing the control amount and outputting the control amount increased to the drive section when the determination section 167 determines the feed speed not to exceed the target feed speed.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a motor control apparatus and a recording apparatus that control a roll motor that rotates a roll body around which a medium is wound.

  Conventionally, when a medium drawn from a roll body on which a medium is wound is fed by a transport roller, a driver that drives a roll motor that rotates the roll body based on a control amount, and a transport speed that acquires the rotational speed of the roll body A calculation unit, a target speed generation unit that generates a target rotation speed of the roll body, an auxiliary force calculation unit that calculates an auxiliary force according to the acquired rotation speed, and a deviation between the acquired rotation speed and the target rotation speed And a PWM output unit that outputs a control amount obtained by adding the PI control amount to the control amount corresponding to the assisting force to the driver when the transport roller is accelerated. It has been known. This printing apparatus improves the delay in rotation of the roll body with respect to the start of rotation of the transport roller by driving the roll motor with a control amount obtained by adding the PI control amount (see Patent Document 1).

JP 2013-22084 A

  However, in such a printing apparatus, since the roll motor is always driven by a control amount obtained by adding the PI control amount to the control amount corresponding to the auxiliary force when the transport roller is accelerated, the rotation speed of the roll body is set to the target rotation speed. When it became above, the rotational speed of the roll body might decelerate rapidly. In this case, the tension applied to the medium becomes high.

  It is an object of the present invention to provide a motor control device that can suppress a variation in tension applied to a medium drawn from a roll body.

The motor control device of the present invention includes a drive unit that drives a roll motor that rotates a roll body based on a control amount when the medium drawn from the roll body around which the medium is wound is fed by a feed roller, and a roll body A feed rate acquisition unit that acquires the media feed rate by rotation of the medium, a determination unit that determines whether the acquired feed rate exceeds the target feed rate, and a determination unit that the feed rate does not exceed the target feed rate And a control amount output unit that increases the control amount and outputs it to the drive unit when it is determined that the control amount is determined.
According to this configuration, the rotation speed acquisition unit that acquires the rotation speed of the roll body, the target feed speed generation unit that generates the target feed speed, and the first control amount that calculates the first control amount according to the acquired rotation speed. A control amount calculation unit, and a second control amount calculation unit that calculates a second control amount based on a deviation between the acquired feed rate and the target feed rate. When it is determined that the feed rate has not been exceeded, an addition control amount obtained by adding the second control amount to the first control amount is output as a control amount to the drive unit, and when it is determined that the feed rate has exceeded the target feed rate, The first control amount is output as a control amount to the drive unit.

  According to this configuration, when the determination unit determines that the medium feed speed exceeds the target feed speed, the roll motor operates with the first control amount as the control amount. As a result, it is possible to suppress a rapid decrease in the medium feeding speed, and it is possible to suppress an excessive tension applied to the medium.

  In this case, the control amount output unit determines the added control amount as the control amount when the determination unit determines that the feed rate does not exceed the target feed rate at the time of acceleration for accelerating the rotation speed and at a constant speed for maintaining the constant speed state. When the feed rate exceeds the target feed rate, it is preferable to output the first control amount as a control amount to the drive unit.

  According to this configuration, it is possible to suppress an excessive tension from being applied to the medium at the time of acceleration and constant speed of the roll body.

The motor control device of the present invention includes a drive unit that drives a roll motor that rotates a roll body based on a control amount when the medium drawn from the roll body around which the medium is wound is fed by a feed roller, and a roll body A feed rate acquisition unit that acquires the feed rate of the medium by rotation of the medium, a determination unit that determines whether the acquired feed rate exceeds the target feed rate, and a determination unit that the feed rate exceeds the target feed rate And a control amount output unit that increases the control amount and outputs the control amount to the drive unit when it is determined that the control amount is determined.
According to this configuration, the rotation speed acquisition unit that acquires the rotation speed of the roll body, the target feed speed generation unit that generates the target feed speed, and the first control amount that calculates the first control amount according to the acquired rotation speed. A control amount calculation unit, and a second control amount calculation unit that calculates a second control amount based on a deviation between the acquired feed rate and the target feed rate. When it is determined that the feed rate has been exceeded, an addition control amount obtained by adding the second control amount to the first control amount is output as a control amount to the drive unit, and when it is determined that the feed rate has not exceeded the target feed rate, the first The control amount is output to the drive unit as a control amount.

  According to this configuration, when the determination unit determines that the medium feed speed does not exceed the target feed speed, the roll motor operates with the first control amount as the control amount. Thereby, it is possible to suppress an increase in the feeding speed of the medium and to prevent the medium from being loosened.

  In this case, the control amount output unit adds the second control amount to the first control amount when the determination unit determines that the feed speed has exceeded the target feed speed during deceleration for decelerating the rotation speed. Is output to the drive unit as a control amount, and when it is determined that the feed rate has not exceeded the target feed rate, the first control amount is preferably output to the drive unit as the control amount.

  According to this configuration, it is possible to suppress the slack of the medium when the rotational speed of the roll body is reduced.

  A recording apparatus of the present invention, the motor control device according to any one of claims 1 to 6, a roll motor that rotates a roll body by the motor control device, a recording unit that records an image on a medium, It is provided with.

  According to this configuration, by providing the motor control device that can suppress the fluctuation of the tension applied to the medium pulled out from the roll body, the medium can be fed with an accurate feed amount, and the image can be appropriately displayed on the medium. Can be recorded.

1 is a diagram illustrating a schematic configuration of a recording apparatus according to an embodiment of the present invention. It is a figure which shows the positional relationship of a roll body, a drive roller, a driven roller, and a recording head. It is a block diagram which shows the function structural example of a controller. It is a block diagram which shows the function structural example of a feed motor control part. It is a block diagram which shows the function structural example of a roll motor control part. (A) is the graph which showed the value of the target feed speed of a medium with respect to passage of time, the feed speed, and the tension | tensile_strength which generate | occur | produces in a medium, (b) is the 1st control amount and 1st control amount with respect to progress of time. 5 is a graph showing an output of a control amount obtained by adding a PI control amount to

  Hereinafter, a recording apparatus according to an embodiment of the present invention will be described with reference to the accompanying drawings.

  As shown in FIGS. 1 and 2, the recording apparatus 10 of the present embodiment prints an image on the medium P by an ink jet method while pulling out the medium P from the roll body RP and sending it. The roll body RP set in the recording apparatus 10 is obtained by winding a belt-shaped medium P around a cylindrical core (not shown) in a roll shape. The material of the medium P is not particularly limited, and is, for example, recording paper, film, cloth, or the like. The width of the medium P is, for example, 64 inches. The maximum weight of the roll body RP that can be set in the recording apparatus 10 is, for example, 80 kg.

  The recording device 10 is connected to be communicable with a computer COM that is an external device. For example, the recording apparatus 10 receives image data for recording an image from the computer COM. Note that the recording device 10 is not limited to receiving image data from the computer COM. For example, the recording device 10 may receive image data from a storage medium such as a USB (Universal Serial Bus) memory. You may make it create.

  The recording apparatus 10 includes a roll driving mechanism 30, a carriage driving mechanism 40, a medium feeding mechanism 50, a platen 55, and a controller 100.

  The roll drive mechanism 30 rotates the roll body RP around which the medium P is wound. The roll drive mechanism 30 includes a pair of rotation holders 31, a roll wheel train 32, a roll motor 33, and a roll rotation detection unit 34.

  The pair of rotation holders 31 are respectively inserted into both ends of the core of the roll body RP, and hold the roll body RP from both sides. The pair of rotation holders 31 are rotatably supported by holder support portions (not shown). One rotary holder 31 is provided with a roll input gear 32 b that meshes with a roll output gear (not shown) of the roll wheel train 32.

  The roll motor 33 gives a driving force to one rotary holder 31. The roll motor 33 is, for example, a DC (Direct Current) motor. When the driving force from the roll motor 33 is transmitted through the roll wheel train 32, the rotation holder 31 and the roll body RP held by the rotation holder 31 rotate. More specifically, the roll motor 33 can rotate the roll body RP in the rewind direction D1 so that the medium P drawn from the roll body RP is rewound onto the roll body RP. The roll motor 33 can rotate the roll body RP in the feed rotation direction D2 so that the medium P is fed from the roll body RP. For example, the roll motor 33 rotates the roll body RP in the rewind direction D1 when cueing the front end of the medium P. On the other hand, the roll motor 33 rotates the roll body RP in the feed rotation direction D2 during a feed operation described later.

  The roll rotation detection unit 34 detects the rotation position and rotation direction of the roll body RP. The roll rotation detector 34 is a rotary encoder provided with a disk-like scale provided on the output shaft of the roll motor 33 and a photo interrupter.

  The carriage drive mechanism 40 records an image on the medium P drawn from the roll body RP. The carriage drive mechanism 40 includes a carriage 41, a carriage shaft 42, a recording head 44, a carriage motor 45, and a carriage position detection unit 46.

  The carriage 41 moves in the movement direction D3 along the carriage shaft 42 when the carriage motor 45 drives a belt mechanism (not shown). The carriage 41 is provided with an ink tank 43 that stores ink of each color. Ink is supplied to the ink tank 43 from an ink cartridge (not shown) via a tube. A recording head 44 that is an ink jet head is provided on the lower surface of the carriage 41. The recording head 44 ejects ink supplied from the ink tank 43 from the nozzles.

  The carriage position detection unit 46 detects the position of the carriage 41 in the movement direction D3. The carriage position detection unit 46 is a linear encoder including a linear scale provided along the movement direction D3 and a photo interrupter.

  The medium feeding mechanism 50 feeds the medium P drawn from the roll body RP in a feeding direction D4 that is substantially orthogonal to the moving direction D3. The medium feeding mechanism 50 includes a driving roller 51a, a driven roller 51b, a feeding wheel train 52, a feeding motor 53, and a feeding rotation detection unit 54.

  The driving roller 51a and the driven roller 51b rotate and feed the medium P sandwiched between them. The drive roller 51 a is provided with a feed input gear 52 b that meshes with a feed output gear (not shown) of the feed wheel train 52.

  The feed motor 53 applies driving force to the driving roller 51a. The feed motor 53 is, for example, a DC motor. The driving force from the feed motor 53 is transmitted to the drive roller 51a via the feed wheel train 52, so that the drive roller 51a rotates and the driven roller 51b rotates accordingly.

  The feed rotation detection unit 54 detects the rotation position and rotation direction of the drive roller 51a. The feed rotation detection unit 54 is a rotary encoder provided with a disk-like scale provided on the output shaft of the feed motor 53 and a photo interrupter.

  The platen 55 is provided so as to face the recording head 44. The platen 55 is formed with a plurality of suction holes 55a penetrating vertically. A suction fan 56 is provided below the platen 55. By operating the suction fan 56, the suction hole 55a has a negative pressure, and the medium P on the platen 55 is sucked and held. Ink is ejected from the recording head 44 to the medium P sucked and held on the platen 55.

  The controller 100 performs overall control of each unit of the recording apparatus 10. The controller 100 includes a CPU (Central Processing Unit) 101, a ROM (Read Only Memory) 102, a RAM (Random Access Memory) 103, a PROM (Programmable ROM) 104, an ASIC (Application Specific Integrated Circuit) 105, a motor. A driver 106 and a bus 107 are provided. Each pulse signal from the roll rotation detection unit 34, the carriage position detection unit 46, and the feed rotation detection unit 54 is input to the controller 100. The functional configuration of the controller 100 will be described later. The motor driver 106 is an example of the “drive unit” in the claims.

  The recording apparatus 10 configured as described above repeatedly performs the dot forming operation and the feeding operation when executing a recording job for recording an image on the medium P. In other words, the recording apparatus 10 repeatedly performs a plurality of feeding operations intermittently in one recording job. Here, the dot forming operation is an operation of forming dots on the medium P by ejecting ink from the recording head 44 while moving the carriage 41 in the moving direction D3, and is also called main scanning. The feeding operation is an operation for feeding the medium P in the feeding direction D4 and is also called sub-scanning.

  A functional configuration example of the controller 100 will be described with reference to FIG. The controller 100 includes a main control unit 110, a roll motor control unit 120, and a feed motor control unit 130. Each of these functional units is realized by cooperation between hardware configuring the controller 100 and software stored in a memory such as the ROM 102.

  The main control unit 110 gives commands to the roll motor control unit 120 and the feed motor control unit 130. The main control unit 110 drives the roll motor 33 and the feed motor 53 independently, or synchronously drives the roll motor 33 and the feed motor 53, and the roll motor control unit 120 and the feed motor control unit 130. Can be given a command.

  FIG. 4 is a block diagram of the feed motor control unit 130 when realizing PID control. The feed motor control unit 130 includes a position calculation unit 141, a feed rotation speed calculation unit 142, a first subtraction unit 143, a target feed speed generation unit 144, a second subtraction unit 145, a proportional element 146, and an integration element. 147, a differential element 148, a PID adder 150, a PWM (Pulse Width Modulation) output unit 152, and a timer 153.

  The position calculator 141 counts the pulse signal from the feed rotation detector 54 to calculate the rotational position of the drive roller 51a. The feed rotation speed calculation unit 142 calculates the rotation speed of the drive roller 51 a based on the pulse signal from the feed rotation detection unit 54 and the time measured by the timer 153.

  The first subtraction unit 143 calculates a position error between the rotational position of the driving roller 51a output from the position calculation unit 141 and the target position commanded from the main control unit 110. The target feed speed generation unit 144 calculates a target speed according to a predetermined speed table based on the position error output from the first subtraction unit 143. The second subtraction unit 145 calculates a speed error ΔV between the rotation speed of the driving roller 51 a output from the feed rotation speed calculation unit 142 and the target feed speed output from the target feed speed generation unit 144.

The speed error ΔV (also referred to as speed deviation) output from the second subtracting unit 145 is input to the proportional element 146, the integral element 147, and the differential element 148. Each element calculates the following control value Q by the following formulas (1) to (3) based on the speed error ΔV.
QP1 (j) = ΔV (j) × Kp (1)
QI1 (j) = Q (j−1) + ΔV (j) × Ki (2)
QD1 (j) = {ΔV (j) −ΔV (j−1)} × Kd (3)
Here, j is time, Kp is a proportional gain, Ki is an integral gain, and Kd is a differential gain.

  PID adder 150 adds the control values output from proportional element 146, integral element 147, and derivative element 148, and outputs the total control value Qpid to PWM output unit 152. The PWM output unit 152 outputs a PWM signal having a duty value corresponding to the control value Qpid to the motor driver 106. The motor driver 106 drives the feed motor 53 by PWM control based on the PWM signal output from the PWM output unit 152. The PWM output unit 152 is an example of the “control amount output unit” in the claims.

  In this embodiment, the feed motor control unit 130 is configured to perform PID control of the feed motor 53, but is not limited thereto, and may be configured to perform PI control of the feed motor 53, for example. Further, the recording apparatus 10 not only drives and controls the feed motor 53 but also controls the roll motor 33 during the feed operation.

Next, the roll motor control unit 120 will be described.
The roll motor control unit 120 performs a calculation for obtaining a first control amount Dx that is an output value output to a PI addition unit 170 described later. The first control amount Dx is a duty value required to give a prescribed tension F for preventing the medium P drawn from the roll body RP from slackening. It is obtained by subtracting from Duty (ro) which is a duty value required to drive 33.
That is, the first control amount Dx is obtained by the following equation (4).
Dx = Duty (ro) −Duty (f) = aVn + b− (F × r / M) × Duty (max) / Ts (4)
Here, r is the radius of the roll body RP, Duty (max) is the maximum value of the duty value, M is the reduction ratio by the roll wheel train 32, Ts is the starting torque of the roll motor 33, and the coefficients a and b are the following ( 5) Values defined by the equations (6) and (6).
a = (ave TiH-ave TiL) / (VH-VL) (5)
b = ave TiH- (ave TiH-ave TiL) × VL / (VH-VL) (6)
Here, VH is an arbitrary speed faster than a certain speed Vn, and VL is an arbitrary speed slower than a certain speed Vn. Further, ave TiH is a duty value corresponding to the speed VH, and ave TiL is a duty value corresponding to the speed VL.

  In the above formula (4), (F × r / M) is a torque due to the tension F in consideration of the reduction ratio of the roll train wheel 32, and the torque of (F × r / M) is the torque of the roll motor 33. Divide by the starting torque Ts. Thereby, (F × r / M) / Ts which is a ratio with respect to the case where Duty (max) is set to 1 can be obtained. By multiplying (F × r / M) / Ts by Duty (max), it is possible to calculate Duty (f), which is a Duty value necessary for applying the tension F.

Further, the duty (ro) can be obtained as in the following equation (7) using the coefficients a and b.
Duty (ro) = aVn + b (7)

  Here, since the roll motor 33 is pulled through the medium P by the drive of the feed motor 53, the roll motor 33 is driven at the same speed Vn as the feed motor 53 as a result. The speed Vn is calculated based on the detection value detected by the feed rotation detector 54. Thereby, it is possible to suppress the medium P drawn from the roll body RP from being loosened, and to apply tension F to the medium P so that the medium P does not loosen.

  FIG. 5 is a block diagram of the roll motor control unit 120 when realizing PI control. The roll motor control unit 120 includes a feed rotation speed calculation unit 142, a first feed speed calculation unit 160, a first roll rotation speed calculation unit 161, a first control amount calculation unit 162, and a second roll rotation speed calculation unit. 163, a second feed speed calculation unit 164, a target feed speed generation unit 165, a subtraction unit 166, a determination unit 167, a proportional element 168, an integration element 169, a PI addition unit 170, and a PWM (Pulse Width) Modulation) output unit 152.

  The feed rotation speed calculation unit 142 calculates the rotation speed of the drive roller 51 a based on the pulse signal from the feed rotation detection unit 54 and the time measured by the timer 153. The first feed speed calculation unit 160 calculates the feed speed of the medium P based on the rotation speed of the drive roller 51a and the known diameter of the drive roller 51a. The first feed speed calculation unit 160 is an example of the “rotation speed acquisition unit” in the claims.

  The first roll rotation speed calculation unit 161 calculates the rotation speed Vn of the roll body RP based on the feed speed of the medium P output from the first feed speed calculation unit 160 and the diameter of the roll body RP. The diameter of the roll body RP is calculated by detecting the rotation amount of the roll body RP by the roll rotation detection unit 34 and detecting the rotation amount of the drive roller 51a by the feed rotation detection unit 54. The first control amount calculation unit 162 calculates a first control amount Dx corresponding to the rotation speed Vn of the roll body RP calculated based on the above equation (4). The first control amount calculation unit 162 outputs the first control amount Dx to the PI addition unit 170 described later.

  The second roll rotation speed calculation unit 163 calculates the rotation speed Vn of the roll body RP based on the pulse signal from the roll rotation detection unit 34 and the time measured by a timer (not shown). The second feed speed calculation unit 164 calculates the feed speed of the medium P based on the rotation speed Vn output from the second roll rotation speed calculation unit 163 and the diameter of the roll body RP.

  The target feed speed generator 165 outputs a target feed speed of the medium P corresponding to the passage of time. The target feed speed generator 165 of the present embodiment outputs a target feed speed during acceleration that the roll motor 33 accelerates for about 20 ms to about 80 ms, and the roll motor 33 maintains a constant speed state for about 80 ms to about 370 ms. The target feed speed at the constant speed is output, and the target feed speed at the time of deceleration at which the roll motor 33 decelerates is output for about 370 ms to about 400 ms (see FIG. 8).

  The subtractor 166 calculates a speed error ΔV between the feed speed of the medium P output from the second feed speed calculator 164 and the target feed speed output from the target feed speed generator 165.

  The determination unit 167 determines whether the feed speed of the medium P output from the second feed speed calculation unit 164 exceeds the target feed speed output from the target feed speed generation unit 165. The determination can be made from the speed error ΔV obtained by the subtracting unit 166.

The speed error ΔV output from the subtraction unit 166 is input to the proportional element 168 and the integral element 169. Each element calculates the following control value Q by the following equations (8) and (9) based on the speed error ΔV.
QP2 (j) = ΔV (j) × Gp (8)
QI2 (j) = Q (j−1) + ΔV (j) × Gi (9)
Here, j is time, Kp is a proportional gain, and Gi is an integral gain.
Note that the sum of QP2 (j) and QI2 (j) is the PI control amount.

  The PI adding unit 170 outputs a control amount to the PWM output unit 152 described later based on the determination result by the determination unit 167 described above. If the determination result by the determination unit 167 determines that the feed speed of the medium P does not exceed the target feed speed when the roll motor 33 is accelerated and at a constant speed, the PI control amount is added to the first control amount Dx. Is added to the PWM output unit 152 as a control amount, and when it is determined that the feed speed of the medium P exceeds the target feed speed, the first control amount Dx is used as the control amount to the PWM output unit 152. Output. Further, when the roll motor 33 is decelerated, if it is determined that the feed speed of the medium P exceeds the target feed speed, the PWM output is obtained with the addition control amount obtained by adding the PI control amount to the first control amount Dx as the control amount. When it is determined that the feeding speed of the medium P has not exceeded the target feeding speed, the first control amount Dx is output to the PWM output unit 152 as a control amount.

  The PWM output unit 152 outputs a PWM signal having a duty value corresponding to the control amount output from the PI adding unit 170 to the motor driver 106. The motor driver 106 drives the roll motor 33 by PWM control based on the PWM signal output from the PWM output unit 152.

FIG. 6 is a diagram showing the feeding of the medium P in the present embodiment.
In FIG. 6A, S1 indicates the feed speed of the medium P output from the first feed speed calculation unit 160, and S2 indicates the feed speed of the medium P output from the second feed speed calculation unit 164. ing. S3 indicates the target feed speed of the medium P. S4 indicates the tension F applied to the medium P. Here, in the first acceleration region T1 of about 20 ms to about 40 ms where the rotation speed of the roll motor 33 is accelerating, the tension F is set to 0 gf. Next, in the second acceleration region T2 of about 40 ms to about 80 ms where the rotation speed of the roll motor 33 is further accelerated, the tension F is set to 500 gf. In the constant speed region T3 of about 80 ms to about 370 ms, the tension F is set to 500 gf. In the deceleration region T4 of about 370 ms to about 400 ms where the rotation speed of the roll motor 33 is decelerating, the tension F is set to 1000 gf.

  In FIG. 6B, S5 is a duty value Duty (ro). S6 is a control amount obtained by adding the PI control amount to the first control amount Dx. S7 is the PI control amount.

  With reference to FIG. 6A and FIG. 6B, the control amount obtained by adding the PI control amount S7 to the first control amount Dx by the motor control device of the present embodiment and the first control amount Dx are determined. Switching of the control amount to be output based on the determination result of 167 will be described, and how the fluctuation of the tension F applied to the medium P is suppressed will be described.

  In the first acceleration region T1, the feed speed S1 of the medium P is lower than the target feed speed S3 from about 20 ms to about 40 ms. In order to increase the feeding speed S1 of the medium P, a control amount S6 obtained by adding the PI control amount S7 to the first control amount Dx is output to the motor driver 106. Further, the feed speed S1 of the medium P exceeds the target feed speed S3 from about 40 ms to about 50 ms. Therefore, the first control amount Dx is output as the control amount S6 to the motor driver 106 so as not to increase the feeding speed S1 of the medium P.

  In the second acceleration region T2, the tension F shown in S4 is defined as 500 gf. Since the feed speed S1 of the medium P exceeds the target feed speed S3, the first control amount Dx is output to the motor driver 106 as the control amount S6.

  In the constant speed region T3, since the feed speed S1 of the medium P exceeds the target feed speed S3, the first control amount Dx is output to the motor driver 106 as the control amount S6.

  In the deceleration region T4, since the feed speed S1 of the medium P exceeds the target feed speed S3, the control amount S6 obtained by adding the PI control amount S7 to the first control amount Dx is output to the motor driver 106.

  In the first acceleration region T1, the second acceleration region T2, and the constant speed region T3, the determination unit 167 determines whether or not to add the PI control amount S7 to the first control amount Dx, so that the PWM output unit 152 outputs, to the motor driver 106, the addition control amount obtained by adding the PI control amount to the first control amount Dx as the control amount S6, or outputs the first control amount Dx as the control amount S6. Thereby, it is possible to suppress a rapid deceleration of the feeding speed S1 of the medium P, and it is possible to suppress an excessive tension F from being applied to the medium P. Therefore, the fluctuation of the tension F applied to the medium P drawn from the roll body RP can be suppressed.

  In the deceleration region T4, as in the other regions, the determination unit 167 determines whether or not to add the PI control amount S7 to the first control amount Dx, so that the PWM output unit 152 transmits to the motor driver 106. The addition control amount obtained by adding the PI control amount S7 to the first control amount Dx is output as the control amount S6, or the first control amount Dx is output as the control amount S6. Thereby, it is possible to suppress an increase in the feeding speed S1 of the medium P. Therefore, the medium P can be prevented from being loosened.

  As described above, according to the motor control device and the recording device 10 of the present embodiment, it is possible to suppress the rotation speed of the roll body RP from rapidly decelerating and the rotation speed of the roll body RP from increasing. Therefore, the fluctuation of the tension F applied to the medium P drawn from the roll body RP can be suppressed.

In addition, this embodiment can be changed into the following forms.
Even when the determination result by the determination unit 167 determines that the feed speed of the medium P does not exceed the target feed speed when the roll motor 33 is accelerated and at a constant speed, the second control amount calculation unit Need not be calculated. Even when it is determined that the feed speed of the medium P does not exceed the target feed speed when the roll motor 33 is decelerated, the PI control amount does not have to be calculated.

  In the present embodiment, the roll motor control unit 120 is configured to perform PI control of the roll motor 33, but is not limited thereto, and may be configured to perform P control of the roll motor 33, for example.

  The application example of the motor control device of the present invention is not limited to the recording device 10 provided with an ink jet recording unit, and is, for example, a dot impact recording device 10 or an electrophotographic recording device 10. May be. Furthermore, the present invention is not limited to the recording device 10, and for example, a drying device that performs a drying process on the medium P while feeding the medium P, or a surface treatment device that performs a surface treatment on the medium P while feeding the medium P. The motor control device may be applied. Further, the apparatus is not limited to an apparatus that performs such processing on the medium P, and may be an apparatus that simply sends the medium P.

  RP ... roll body, P ... medium, 50 ... medium feed mechanism, 33 ... roll motor, 106 ... motor driver, 160 ... first roll rotation speed calculator, 165 ... target feed speed generator, 162 ... first control amount calculation Part, 167 ... determination part, 152 ... PWM output part

Claims (7)

A drive unit that drives a roll motor that rotates the roll body when the medium drawn from the roll body around which the medium is wound is fed by a feed roller;
A feed speed acquisition unit for acquiring a feed speed of the medium by rotation of the roll body;
A determination unit for determining whether or not the acquired feed speed exceeds a target feed speed;
When the determination unit determines that the feed speed has not exceeded the target feed rate, a control amount output unit that increases the control amount and outputs the control amount to the drive unit;
A motor control device comprising: A rotation speed acquisition unit for acquiring the rotation speed of the roll body;
A target feed speed generator for generating the target feed speed;
A first control amount calculation unit that calculates a first control amount according to the acquired rotation speed;
A second control amount calculation unit for calculating a second control amount based on a deviation between the obtained feed speed and the target feed speed;
Have
When it is determined that the feed rate does not exceed the target feed rate, the control amount output unit adds an addition control amount obtained by adding the second control amount to the first control amount as the control amount to the drive unit. 2. The motor control device according to claim 1, wherein the motor control device outputs the first control amount as the control amount to the drive unit when it is determined that the feed speed exceeds the target feed speed. The control amount output unit is
When the determination unit determines that the feed speed has not exceeded the target feed speed at the time of acceleration for accelerating the rotation speed and at a constant speed to maintain a constant speed state, the drive is performed with the addition control amount as the control amount. 3. The motor control device according to claim 2, wherein the first control amount is output as the control amount to the drive unit when it is determined that the feed speed has exceeded the target feed speed. . A drive unit that drives a roll motor that rotates the roll body when the medium drawn from the roll body around which the medium is wound is fed by a feed roller;
A feed speed acquisition unit for acquiring a feed speed of the medium by rotation of the roll body;
A determination unit for determining whether or not the acquired feed speed exceeds a target feed speed;
A control amount output unit configured to increase the control amount and output to the drive unit when the determination unit determines that the feed speed exceeds the target feed speed;
A motor control device comprising: A rotation speed acquisition unit for acquiring the rotation speed of the roll body;
A target feed speed generator for generating the target feed speed;
A first control amount calculation unit that calculates a first control amount according to the acquired rotation speed;
A second control amount calculation unit for calculating a second control amount based on a deviation between the obtained feed speed and the target feed speed;
And the control amount output unit uses, as the control amount, an addition control amount obtained by adding the second control amount to the first control amount when it is determined that the feed speed exceeds the target feed speed. 5. The motor control according to claim 4, wherein the first control amount is output as the control amount to the drive unit when it is determined that the feed speed has not exceeded the target feed speed. apparatus. The control amount output unit is
At the time of deceleration for decelerating the rotational speed, when the determination unit determines that the feed speed exceeds the target feed speed, an addition control amount obtained by adding the second control amount to the first control amount is controlled. The output to the drive unit as an amount, and when it is determined that the feed speed does not exceed the target feed speed, the first control amount is output to the drive unit as the control amount. The motor control device described. The motor control device according to any one of claims 1 to 6,
The roll motor for rotating the roll body by the motor control device;
A recording unit for recording an image on the medium;
A recording apparatus comprising:

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