Ink jet printer and movement control method for carriage
An inkjet printer includes a carriage motor that moves a carriage, a carriage driving part that drives the carriage motor, a control value calculating part that calculates a total control value (Wt) composed with a control value for a feedback control and a control value for a feedforward control, which are respectfully referred as a feedback control value (Wb) and a feedforward control value (Wf), and an abnormality judging part that judges whether an abnormality has occurred to the carriage movement based on whether a proportional component (Wp) of the feedback control value has exceeded a threshold value.
1. An inkjet printer, comprising:
a carriage motor that moves a carriage,
a carriage driving part that drives the carriage motor,
a control value calculating part that calculates a total control value (Wt) composed with a control value for a feedback control and a control value for a feedforward control, which are respectfully referred as a feedback control value (Wb) and a feedforward control value (Wf), and
an abnormality judging part that judges whether an abnormality has occurred to the carriage movement based on whether a proportional component (Wp) of the feedback control, value has exceeded a threshold value, wherein
the threshold value is set for each of an acceleration region, a uniform velocity region, and a deceleration region that are categorized according to changes in a target velocity of the carriage, and
the control value for the feedforward control is a value combining a control value corresponding to an acceleration component and a control value corresponding to a velocity component, which are respectively referred as an acceleration corresponding control value (Wα) and a velocity corresponding control value (Wv).
2. The inkjet printer according to claim 1 , wherein
the threshold value in the uniform velocity region is set smaller than the threshold value in the acceleration region.
3. The inkjet printer according to claim 1 , wherein
the acceleration corresponding control value is used in the acceleration region and the deceleration region, and
the velocity corresponding control value is used in the acceleration region, the uniform velocity region, and the deceleration region.
4. The inkjet printer according to claim 1 , wherein
the acceleration corresponding control value is set corresponding to a variation amount in a target acceleration of the carriage.
5. The inkjet printer according to claim 1 , wherein
the velocity corresponding control value changes in a fashion of drawing a curve immediately before the target velocity shifts from the acceleration region to the uniform velocity region and immediately after it shifts from the uniform velocity region to the deceleration region.
6. A movement control method for a carriage, wherein
calculating a total control value consisting of a control value for feedback control and a control value for feedforward control,
supplying the total control value to a carriage driving part, driving a carriage motor, and moving the carriage, and
judging whether or not an abnormality has occurred to the carriage movement based on whether a proportional component of the control value for feedback control has exceeded a threshold value, wherein
the threshold value is set for each of an acceleration region, a uniform velocity region, and a deceleration region that are categorized according to changes in a target velocity of the carriage, and
the control value for the feedforward control is a value combining a control value corresponding to an acceleration component and a control value corresponding to a velocity component, which are respectively referred as an acceleration corresponding control value (Wα) and a velocity corresponding control value (Wv).
7. An inkjet printer that performs an image forming process by moving a carriage, comprising:
a controller that is connected to a carriage motor and controls a movement of the carriage in a reciprocation area (Ar 1 to Ar 3 ) with the carriage motor such that the carriage reciprocates between two ends of the reciprocation area,
a control value calculating part that calculates a total control value (Wt) for the movement of the carriage,
a carriage detection part that detects a status of the carriage and obtains a measured value of the carriage in correspondence with the status, the measured value being sent to the control value calculating part,
a setting value storing part that stores target values, feedforward control values and a threshold value of the carriage, which are determined with a predetermined interval through the reciprocation area in advance, wherein
the controller controls the movement of the carriage using the total control value, which is composed with a feedback control value (Wb) and one of the feedforward control values (Wf),
the feedback control value being obtained from a deviation, which is a difference between the measured value detected by the carriage detection part and one of the target values, which corresponds to the measured value, the feedback control value being composed with a proportional component (Wp) and integral component (Wi), and
the one of the feedforward control values being selected from the setting value storing part based on the status of the carriage,
the controller further determines whether or not the proportional component of the feedback control value exceeds the threshold value,
when exceeding, the controller stops the image forming process, and causes the carriage to retreat from the reciprocation area, and
when not exceeding, the controller continues the image forming process,
the measured value includes a position, a travel time, and an actual velocity of the carriage, which are measured with the carriage detection part,
the position meaning where the carriage is located in the reciprocation area at a measuring moment,
the travel time meaning a period that has been counted since the carriage departs from one of the ends of the reciprocation area,
the actual velocity being measured at the measuring moment,
the one of the target values, which corresponds to the measured value, includes a target velocity and a target acceleration, and
the predetermined interval, which is used to determine the target values and feedforward control values, is determined by either a time unit that is obtained based on a measured time or a moving distance unit that is obtained based on a distance for which the carriage moves.
8. The inkjet printer of claim 7 , wherein
the reciprocation area is composed with three regions, which are an acceleration region (Ar 1 ), a uniform velocity region (Ar 2 ) and a deceleration region (Ar 3 ) wherein the uniform velocity region intervenes between the acceleration and deceleration regions,
in the acceleration region, a velocity of the carriage increases,
in the uniform velocity region, the velocity of the carriage is constant,
in the deceleration region, the velocity of the carriage decrease,
the threshold value stored in the setting value storing part is composed with three thresholds (ε 1 to ε 3 ), which respectively correspond to the three regions,
when the carriage is in the acceleration region, the controller selects and compares the threshold (ε 1 ) of the acceleration region with the proportional component,
when the carriage is in the uniform velocity region, the controller selects and compares the threshold (ε 2 ) of the uniform velocity region with the proportional component,
when the carriage is in the deceleration region, the controller selects and compares the threshold (ε 3 ) of the deceleration region with the proportional component.
9. The inkjet printer of claim 8 , wherein
the threshold (ε 2 ) of the constant velocity region is smaller than those (ε 1 and ε 3 ) of the acceleration and deceleration regions.
10. The inkjet printer of claim 7 , wherein
the reciprocation area is composed with three regions, which are an acceleration region (Ar 1 ), a uniform velocity region (Ar 2 ) and a deceleration region (Ar 3 ) wherein the uniform velocity region intervenes between the acceleration and deceleration regions,
in the acceleration region, a velocity of the carriage increases,
in the uniform velocity region, the velocity of the carriage is constant,
in the deceleration region, the velocity of the carriage decrease, and
the feedforward control value is composed with an acceleration corresponding control value (Wα), which is based on a deviation of the target acceleration, and a velocity corresponding control value (Wv), which is based on a deviation of the target velocity,
the total control value (Wt) is obtained with follows:
in the acceleration and deceleration regions, Wt=Wb+Wv+Wα
in the uniform velocity region, Wt=Wb+Wv.
11. The inkjet printer of claim 10 , wherein
an increasing proportion of the velocity corresponding control value (Wv) in the acceleration region becomes smaller as approaching the uniform velocity region, and
a decreasing proportion of the velocity corresponding control value (Wv) in the deceleration region becomes larger as parting from the uniform velocity region.