Image forming apparatus having stepping motor arranged in conveying path for paper, and method for controlling stepping motor in image forming apparatus
An image forming apparatus includes: a stepping motor arranged in a conveying path for a paper; a driver for driving the stepping motor; a current detecting unit for detecting an actual current value; and a control unit for providing a set current value for every predetermined cycle. The control unit determines an estimated load torque value corresponding to the set current value in a previous cycle and the actual current value in a present cycle, by referring to a relationship between actual current and load torque of the stepping motor with respect to the set current value, determines a target load torque value based on the estimated load torque value, and determines, as the set current value, a current value corresponding to the target load torque value, by referring to a relationship between maximum output torque of the stepping motor and current supplied to the stepping motor.
1. An image forming apparatus, comprising:
a stepping motor arranged in a conveying path for a paper on which an image is formed;
a driver for driving the stepping motor;
a current detecting unit for detecting an actual current value that is magnitude of a current at the driver for driving the stepping motor; and
a control unit for providing, to the driver, a set current value for setting magnitude of a current to be supplied to the stepping motor, for every predetermined cycle, based on the actual current value, wherein
the control unit includes
a first determining portion for determining, as an estimated load torque value, a load torque value corresponding to the set current value in a previous cycle and the actual current value in a present cycle, by referring to a relationship between actual current and load torque of the stepping motor with respect to the set current value,
a second determining portion for determining a target load torque value that indicates torque to be output by the stepping motor, based on the estimated load torque value, and
a third determining portion for determining, as the set current value, a current value corresponding to the target load torque value, by referring to a relationship between maximum output torque of the stepping motor and current supplied to the stepping motor.
2. The image forming apparatus according to claim 1 , wherein
the second determining portion is adapted to determine the target load torque value such that a ratio of the target load torque value to the estimated load torque value exceeds 1.
3. The image forming apparatus according to claim 2 , wherein
the second determining portion is adapted to set the ratio of the target load torque value to the estimated load torque value to be large in advance in continuous image forming processing and then to reduce the ratio as image forming processing proceeds.
4. The image forming apparatus according to claim 1 , wherein
the control unit further includes a changing portion for changing a set value of a rotation speed of the stepping motor, in accordance with progress of image forming processing.
5. The image forming apparatus according to claim 4 , wherein
the control unit further includes an obtaining portion for dividing a time period of the image forming processing into a plurality of cycles and obtaining, as the actual current value, a representative value in each cycle from among a plurality of the current values at the driver for driving the stepping motor.
6. The image forming apparatus according to claim 5 , wherein
the control unit is adapted to use a temporal change in load torque estimated based on the actual current value obtained in previous image forming processing, to determine the target load torque value in each image forming processing.
7. The image forming apparatus according to claim 6 , wherein
the control unit further includes a fourth determining portion for determining the temporal change in the estimated load torque in each image forming processing by statistical processing of temporal changes in a plurality of load torque that are estimated in a plurality of times of previous image forming processing.
8. The image forming apparatus according to claim 5 , further comprising
at least one peak hold circuit provided on an output side of the current detecting unit, wherein
the control unit is adapted to output a reset signal to the peak hold circuit at a boundary timing of each cycle.
9. The image forming apparatus according to claim 1 , wherein
the control unit further includes
a storage unit for storing a plurality of relationships between the actual current and the output torque of the stepping motor for a plurality of the set current values of different magnitude, and
a fifth determining portion for determining a relationship between the actual current and the output torque of the stepping motor with respect to the set current value in the previous cycle, using two or more the relationships related to the set current value in the previous cycle, of the plurality of relationships between the actual current and the output torque of the stepping motor.
10. The image forming apparatus according to claim 1 , wherein
the control unit further includes
a providing portion for providing a set value of a rotation speed of the stepping motor to the driver,
a storage unit for storing a plurality of relationships between the rotation speed of the stepping motor and the maximum output torque of the stepping motor for a plurality of the set current values of different magnitude, and
a sixth determining portion for determining the relationship between the maximum output torque of the stepping motor and the current supplied to the stepping motor with respect to the set value of the rotation speed provided to the stepping motor, by obtaining the maximum output torque of the stepping motor corresponding to the set value of the rotation speed provided to the stepping motor, based on the plurality of relationships between the rotation speed of the stepping motor and the maximum output torque of the stepping motor.
11. The image forming apparatus according to claim 1 , wherein
the current detecting unit includes a low pass filter for filtering a high-frequency component included in a raw detected current.
12. An image forming apparatus, comprising:
a stepping motor;
a driver for driving the stepping motor;
a current detecting unit for detecting an actual current value that is magnitude of a current at the driver for driving the stepping motor; and
a control unit for providing, to the driver, a set current value for setting magnitude of a current to be supplied to the stepping motor, for every predetermined cycle, based on the actual current value, wherein
the control unit includes
a first determining portion for determining, as an estimated load torque value, a load torque value corresponding to the set current value in a previous cycle and the actual current value in a present cycle, by referring to a relationship between actual current and load torque of the stepping motor with respect to the set current value,
a second determining portion for determining a target load torque value that indicates torque to be output by the stepping motor, based on the estimated load torque value, and
a third determining portion for determining, as the set current value, a current value corresponding to the target load torque value, by referring to a relationship between maximum output torque of the stepping motor and current supplied to the stepping motor.
13. The image forming apparatus according to claim 12 , wherein
the control unit further includes
a storage unit for storing a plurality of relationships between the actual current and the output torque of the stepping motor for a plurality of the set current values of different magnitude, and
a fourth determining portion for determining a relationship between the actual current and the output torque of the stepping motor with respect to the set current value in the previous cycle, using two or more the relationships related to the set current value in the previous cycle, of the plurality of relationships between the actual current and the output torque of the stepping motor.
14. The image forming apparatus according to claim 12 , wherein
the control unit further includes
a providing portion for providing a set value of a rotation speed of the stepping motor to the driver,
a storage unit for storing a plurality of relationships between the rotation speed of the stepping motor and the maximum output torque of the stepping motor for a plurality of the set current values of different magnitude, and
a fifth determining portion for determining the relationship between the maximum output torque of the stepping motor and the current supplied to the stepping motor with respect to the set value of the rotation speed provided to the stepping motor, by obtaining the maximum output torque of the stepping motor corresponding to the set value of the rotation speed provided to the stepping motor, based on the plurality of relationships between the rotation speed of the stepping motor and the maximum output torque of the stepping motor.
15. The image forming apparatus according to claim 12 , wherein
the current detecting unit includes a low pass filter for filtering a high-frequency component included in a raw detected current.
16. The image forming apparatus according to claim 12 , wherein
the second determining portion is adapted to determine the target load torque value such that a ratio of the target load torque value to the estimated load torque value exceeds 1.
17. The image forming apparatus according to claim 16 , wherein
the second determining portion is adapted to set the ratio of the target load torque value to the estimated load torque value to be large in advance in continuous image forming processing and then to reduce the ratio as image forming processing proceeds.
18. The image forming apparatus according to claim 12 , wherein
the stepping motor is arranged in a conveying path for a paper on which an image is formed, and
the control unit further includes a changing portion for changing a set value of a rotation speed of the stepping motor, in accordance with progress of image forming processing.
19. The image forming apparatus according to claim 18 , wherein
the control unit further includes an obtaining portion for dividing a time period of the image forming processing into a plurality of cycles and obtaining, as the actual current value, a representative value in each cycle from among a plurality of the current values at the driver for driving the stepping motor.
20. The image forming apparatus according to claim 19 , wherein
the control unit is adapted to use a temporal change in load torque estimated based on the actual current value obtained in previous image forming processing, to determine the target load torque value in each image forming processing.
21. The image forming apparatus according to claim 20 , wherein
the control unit further includes a sixth determining portion for determining the temporal change in the estimated load torque in each image forming processing by statistical processing of temporal changes in a plurality of load torque that are estimated in a plurality of times of previous image forming processing.
22. The image forming apparatus according to claim 19 , further comprising
at least one peak hold circuit provided on an output side of the current detecting unit, wherein
the control unit is adapted to output a reset signal to the peak hold circuit at a boundary timing of each cycle.
23. A method for controlling a stepping motor in an image forming apparatus, comprising the steps of:
detecting an actual current value that is magnitude of a current at a driver for driving the stepping motor; and
providing, to the driver, a set current value for setting magnitude of a current to be supplied to the stepping motor, for every predetermined cycle, based on the detected actual current value, wherein
the step of providing the set current value for every predetermined cycle includes the steps of
determining, as an estimated load torque value, a load torque value corresponding to the set current value in a previous cycle and the actual current value in a present cycle, by referring to a relationship between actual current and load torque of the stepping motor with respect to the set current value,
determining a target load torque value that indicates torque to be output by the stepping motor, based on the estimated load torque value, and
determining, as the set current value, a current value corresponding to the target load torque value, by referring to a relationship between maximum output torque of the stepping motor and current supplied to the stepping motor.