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US 11,121,658 B2Granted
Motor control apparatus, image forming apparatus, and control method of motor control apparatus
AssigneeCanon Kabushiki Kaisha
InventorJumpei Ashida
Life of this patent
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Abstract
A parameter concerning rotation of a motor is estimated (first estimation). A parameter concerning rotation of the motor is estimated, based on a model representing a prescribed change in a rotation speed of the motor (second estimation). It is determined whether an anomaly has occurred in the rotation of the motor, based on the parameter estimated in the first estimation and the parameter estimated in the second estimation.
Claims20
A motor control apparatus comprising:
- a first estimation unit configured to estimate a parameter concerning rotation of a motor;
- a second estimation unit configured to estimate a parameter concerning rotation of the motor, based on a model representing a prescribed change in a rotation speed of the motor;
- and
- a determination unit configured to determine that an anomaly has occurred in the rotation of the motor if an observation error of the parameter estimated by the first estimation unit is greater than an observation error of the parameter estimated by the second estimation unit;
- wherein the determination unit (i) calculates, as the observation error of the parameter estimated by the first estimation unit, difference between a voltage based on a circuit equation of a motor model and an induced voltage being the parameter estimated by the first estimation unit, and (ii) calculates, as the observation error of the parameter estimated by the second estimation unit, difference between the voltage based on the circuit equation of the motor model and an induced voltage being the parameter estimated by the second estimation unit.
2 more elements
An image forming apparatus comprising:
- a motor;
- and a motor control apparatus including:
- a first estimation unit configured to estimate a parameter concerning rotation of the motor;
- a second estimation unit configured to estimate a parameter concerning rotation of the motor, based on a model representing a prescribed change in a rotation speed of the motor;
- and
- a determination unit configured to determine that an anomaly has occurred in the rotation of the motor if an observation error of the parameter estimated by the first estimation is greater than with an observation error of the parameter estimated by the second estimation unit;
- wherein the determination unit (i) calculates, as the observation error of the parameter estimated by the first estimation unit, difference between a voltage based on a circuit equation of a motor model and an induced voltage being the parameter estimated by the first estimation unit, and (ii) calculates, as the observation error of the parameter estimated by the second estimation unit, difference between the voltage based on the circuit equation of the motor model and an induced voltage being the parameter estimated by the second estimation unit.
4 more elements
A control method of a motor control apparatus, comprising:
- performing a first estimation for estimating a parameter concerning rotation of a motor;
- performing a second estimation for estimating a parameter concerning rotation of the motor, based on a model representing a prescribed change in a rotation speed of the motor;
- and
- determining that an anomaly has occurred in the rotation of the motor if an observation error of the parameter estimated in the first estimation is greater than with an observation error of the parameter estimated in the second estimation;
- wherein in the determining (i) difference between a voltage based on a circuit equation of a motor model and an induced voltage being the parameter estimated in the first estimation is calculated as the observation error of the parameter estimated in the first estimation, and (ii) difference between the voltage based on the circuit equation of the motor model and an induced voltage being the parameter estimated in the second estimation is calculated as the observation error of the parameter estimated in the second estimation.
2 more elements
Dependencies are inferred from the claim text.