US 2003/0201600 A1Published application

Position control system for use in driving system transmitting driving force of driving source to driven member through power transmission mechanism, image forming apparatus, position control method, program for performing the position control method, and storage medium having the program stored thereon

AssigneeCanan Kabushiki Kaisha

InventorTadashi Hayashi

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Abstract

A position control system uses a speed command supplied to a driving source. The speed command has a change pattern which has an acceleration section (1) for eliminating a dead zone of a power transmission mechanism, a constant-speed section (or an acceleration section with a slower acceleration than in the section (1)), an acceleration section (3) up to the maximum speed, a constant-speed section (4), a deceleration section (5), a constant-speed section (6) for eliminating the dead zone (or a deceleration section with a slower deceleration than in the section (5)), and a deceleration (7) for stopping at a target section. Even when a driven member has large inertia, the position thereof is accurately controlled to the target position in a semi-closed position control system.

Claims31

Dependent claims

A position control method for use in a driving apparatus comprising a driving source which drives a driven member through a power transmission mechanism and position detecting circuit detecting a driving position of said driving source, and outputting a speed command to said driving source to perform speed control, said method of performing control such that the driving position detected by said position detecting circuit reaches a target position, said method comprising:

a first speed control step of changing said speed command to an acceleration side at a change rate to drive said driving source with acceleration by at least a driving amount corresponding to an amount of a maximum mechanical dead zone of said power transmission mechanism;
a second speed control step of maintaining said speed command constant or changing said speed command to the acceleration side at a change rate lower than the change rate at said first speed control step during driving of said driving source by a driving amount required for a driving speed of said driven member to reach a speed corresponding to a speed of said driving source and a design speed change ratio of said power transmission mechanism after said first speed control step;
a third speed control step of changing said speed command to the acceleration side after said second speed control step;
a fourth speed control step of changing said speed command to a deceleration side at a change rate to decelerate said driving source by at least the driving amount corresponding to the maximum mechanical dead zone of said power transmission mechanism after said third speed control step;
a fifth speed control step of-maintaining said speed command constant or changing said speed command to the deceleration side at a change rate lower than the change rate at said fourth speed control step during driving of said driving source by a driving amount required for the driving speed of said driven member to reach a speed corresponding to a speed of said driving source and the design speed change ratio of said power transmission mechanism after said fourth speed control step;
and
a sixth speed control step of changing said speed command to the deceleration side to stop said driving source at said target position after said fifth speed control step.

4 more elements

A position control system comprising:

a driving source;
a power transmission member which transmits an output from said driving source to a driven member;
a position detecting circuit which detects a driving position of said driving source;
and
a control circuit which supplies a speed command to said driving source to control driving of said driving source such that the driving position detected by said position detecting circuit reaches a target position,
wherein said control circuit performs first speed control of changing said speed command to an acceleration side at a change rate to drive said driving source with acceleration by at least a driving amount corresponding to a maximum mechanical dead zone of said power transmission mechanism,
said control circuit performs second speed control of maintaining said speed command constant or changing said speed command to the acceleration side at a change rate lower than the change rate at said first speed control during driving of said driving source by a driving amount required for a driving speed of said driven member to reach a speed corresponding to a speed of said driving source and a design speed change ratio of said power transmission mechanism after said first speed control,
said control circuit performs third speed control of changing said speed command to the acceleration side after said second speed control,
said control circuit performs fourth speed control of changing said speed command to a deceleration side at a change rate to decelerate said driving source by at least the driving amount corresponding to the maximum mechanical dead zone of said power transmission mechanism after said third speed control,
said control circuit performs fifth speed control of maintaining said speed command constant or changing said speed command to the deceleration side at a change rate lower than the change rate at said fourth speed control during driving of said driving source by a driving amount required for the driving speed of said driven member to reach a speed corresponding to a speed of said driving source and the design speed change ratio of said power transmission mechanism after said fourth speed control, and
said control circuit performs sixth speed control of changing said speed command to the deceleration side to stop said driving source at said target position after said fifth speed control.

8 more elements

An image forming apparatus comprising:

a driving source;
a developer unit;
a power transmission member which transmits an output from said driving source to said development unit;
a position detecting circuit which detects a driving position of said driving source;
and
a control circuit which supplies a speed command to said driving source to control driving of said driving source such that the driving position detected by said position detecting circuit reaches a target position,
wherein said control circuit performs first speed control of changing said speed command to an acceleration side at a change rate to drive said driving source with acceleration by at least a driving amount corresponding to a maximum mechanical dead zone of said power transmission mechanism,
said control circuit performs second speed control of maintaining said speed command constant or changing said speed command to the acceleration side at a change rate lower than the change rate at said first speed control during driving of said driving source by a driving amount required for a driving speed of said development unit to reach a speed corresponding to a speed of said driving source and a design speed change ratio of said power transmission mechanism after said first speed control,
said control circuit performs third speed control of changing said speed command to the acceleration side after said second speed control,
said control circuit performs fourth speed control of changing said speed command to a deceleration side at a change rate to decelerate said driving source by at least the driving amount corresponding to the maximum mechanical dead zone of said power transmission mechanism after said third speed control,
said control circuit performs fifth speed control of maintaining said speed command constant or changing said speed command to the deceleration side at a change rate lower than the change rate at said fourth speed control during driving of said driving source by a driving amount required for the driving speed of said developer unit to reach a speed corresponding to the speed of said driving source and the design speed change ratio of said power transmission mechanism after said fourth speed control, and
said control circuit performs sixth speed control of changing said speed command to the deceleration side to stop said driving source at said target position after said fifth speed control.

9 more elements

A program for use in a driving apparatus comprising a driving source which drives a driven member through a power transmission mechanism and position detecting circuit detecting a driving position of said driving source, and outputting a speed command to said driving source to perform speed control, said program for performing control such that the driving position detected by said position detecting circuit reaches a target position, said program comprising:

a first speed control routine of changing said speed command to an acceleration side at a change rate to drive said driving source with acceleration by at least a driving amount corresponding to a maximum mechanical dead zone of said power transmission mechanism;
a second speed control routine of maintaining said speed command constant or changing said speed command to the acceleration side at a change rate lower than the change rate at said first speed control routine during driving of said driving source by a driving amount required for a driving speed of said driven member to reach a speed corresponding to a speed of said driving source and a design speed change ratio of said power transmission mechanism after said first speed control routine;
a third speed control routine of changing said speed command to the acceleration side after said second speed control routine;
a fourth speed control routine of changing said speed command to a deceleration side at a change rate to decelerate said driving source by at least the driving amount corresponding to the maximum mechanical dead zone of said power transmission mechanism after said third speed control routine;
a fifth speed control routine of maintaining said speed command constant or changing said speed command to the deceleration side at a change rate lower than the change rate at said fourth speed control routine during driving of said driving source by a driving amount required for the driving speed of said driven member to reach a speed corresponding to a speed of said driving source and the design speed change ratio of said power transmission mechanism after said fourth speed control routine;
and
a sixth speed control routine of changing said speed command to the deceleration side to stop said driving source at said target position after said fifth speed control routine.

4 more elements

A storage medium having a program stored thereon, said program for use in a driving apparatus comprising a driving source which drives a driven member through a power transmission mechanism and position detecting circuit detecting a driving position of said driving source, and outputting a speed command to said driving source to perform speed control, said program for performing control such that the driving position detected by said position detecting circuit reaches a target position, said program comprising:

a first speed control routine of changing said speed command to an acceleration side at a change rate to drive said driving source with acceleration by at least a driving amount corresponding to a maximum mechanical dead zone of said power transmission mechanism;
a second speed control routine of maintaining said speed command constant or changing said speed command to the acceleration side at a change rate lower than the change rate at said first speed control routine during driving of said driving source by a driving amount required for a driving speed of said driven member to reach a speed corresponding to a speed of said driving source and a design speed change ratio of said power transmission mechanism after said first speed control routine;
a third speed control routine of changing said speed command to the acceleration side after said second speed control routine;
a fourth speed control routine of changing said speed command to a deceleration side at a change rate to decelerate said driving source by at least the driving amount corresponding to the maximum mechanical dead zone of said power transmission mechanism after said third speed control routine;
a fifth speed control routine of maintaining said speed command constant or changing said speed command to the deceleration side at a change rate lower than the change rate at said fourth speed control routine during driving of said driving source by a driving amount required for the driving speed of said driven member to reach a speed corresponding to a speed of said driving source and the design speed change ratio of said power transmission mechanism after said fourth speed control routine;
and
a sixth speed control routine of changing said speed command to the deceleration side to stop said driving source at said target position after said fifth speed control routine.

4 more elements

Dependencies are inferred from the claim text.