Feed forward terms based on continuous model
AssigneeHewlett-Packard Development Company, L.P.
InventorMichael Ewe
Life of this patent
Estimating the term…
Abstract
An example method for controlling a carriage of a printing device is described. In one implementation, a target velocity value that satisfies a sharpness threshold is filtered by a processor resource of the printing device, a feed forward term is generated using a continuous model applied to the filtered velocity input using a plurality of electromechanical parameters, a feedback term is generated based on a difference between an expected pulse-width modulation (PWM) profile and an actual PWM profile, and a voltage to be provided to a motor of the carriage is adjusted based on the feed forward term and the feedback term.
Claims15
A system comprising:
- a filter engine to apply a filter to a target velocity value associated with a carriage, the filter including a filter parameter to round a state transition by changing the target velocity value from a first velocity value to a second velocity value when a first difference between the first velocity value and the second velocity value achieves a sharpness threshold;
- a feed forward engine to determine a feed forward term of a carriage based on a continuous model that uses a target velocity value of the velocity profile, a mass of a device conveyable by the carriage, and a friction force expected against the carriage;
- a feedback engine to determine a feedback term based on a second difference between the target velocity value and an actual velocity value of the carriage;
- and
- a motion engine to cause the carriage to move based on the feed forward term and the feedback term.
An apparatus comprising:
- a carriage;
- a marking device coupled to the carriage;
- a motor operatively coupled to the carriage;
- and
- a controller comprising a processor resource and a computer-readable storage medium comprising a set of instructions executable by the processor resource to:
- filter a target velocity value based on a filter parameter;
- calculate a feed forward term comprising a pulse-width modulation (PWM) value associated with an expected velocity of a continuous model using the filtered target velocity value based on a mass of the marking device, a friction force expected by the carriage, and a motor parameter;
- and
- cause the motor to move the carriage based on the PWM value.
A method for controlling a carriage of a printing device comprising:
- receiving a target velocity value via a driver interface of the printing device based on a carriage move request;
- filtering, by a processor resource of the printing device, the target velocity value identified as within a state transition of a velocity profile that satisfies a sharpness threshold;
- generating, by the processor resource, a feed forward term based on a continuous model that uses the filtered target velocity value and a plurality of electromechanical parameters identifiable at calibration;
- generating, by the processor resource, a feedback term based on a difference between an expected pulse-width modulation (PWM) profile of a carriage and an actual PWM profile of the carriage;
- and
- adjusting a voltage to be provided to a motor to move the carriage based on the feed forward term and the feedback term.
Dependencies are inferred from the claim text.