Method and apparatus for controlling motors

An apparatus for controlling a motor by dividing the controlling into a plurality of regions including an acceleration region and a constant-velocity region in a device in which a mechanism is driven using the motor as a power source, comprising:

• command value output means for outputting a velocity command value by modifying a velocity command value defined in a a preset velocity profile,
• a preset position profile and information relating to position of the mechanism within the acceleration region;
• servo control means for outputting command information regarding the motor based upon the velocity command value modified by said command value output means and information regarding velocity of the mechanism;
• and
• driving signal generating means for generating a driving signal of the motor, based upon the command information,
• wherein within the constant-velocity region, said command value output means outputs the velocity command value based upon the preset velocity profile.

A electronic device having a controller for controlling a motor by dividing the controlling into a plurality of regions including an acceleration region and a constant-velocity region that drives a mechanism in which the motor is used as a power source, said controller comprising:

• command value output means for outputting a velocity command value by modifying a velocity command value defined in a preset velocity profile,
• based upon a preset position profile and information relating to position of the mechanism within the acceleration region;
• servo control means for outputting command information regarding the motor based upon the velocity command value modified by said command value output means and information regarding velocity of the mechanism;
• and
• driving signal generating means for generating a driving signal of the motor, based upon the command information,
• wherein within the constant-velocity region, said command value output means outputs the velocity command value based upon the preset velocity profile.

A printer having an apparatus for controlling a motor by dividing the controlling into a plurality of regions including an acceleration region and a constant-velocity region that drives a carriage on which a printhead has been mounted, the motor being used as a power source, said apparatus comprising:

• command value output means for outputting a velocity command value by modifying a velocity command value defined in a preset velocity profile,
• based upon a preset position profile and information relating to position of the mechanism within the acceleration region;
• servo control means for outputting command information regarding the motor based upon the velocity command value modified by said command value output means and information regarding velocity of the mechanism;
• and
• driving signal generating means for generating a driving signal of the motor, based upon the command information,
• wherein within the constant-velocity region, said command value output means outputs the velocity command value based upon the preset velocity plane.

An apparatus for controlling a motor by dividing the controlling into a plurality of regions including an acceleration region in a device in which a mechanism is driven using the motor as a power source, comprising:

• an encoder for outputting a signal in response to a movement of the mechanism;
• velocity calculation means for calculating velocity information based on the signal outputted from said encoder;
• position calculation means for calculating position information based on the signal outputted from said encoder;
• difference calculation means for calculating a difference between a position command value defined in a position profile and the position information;
• first operation means for performing an operation for obtaining a proportionality term relating to the difference calculated by said difference calculation means;
• second operation means for performing an operation using a coefficient that decreases as time elapses;
• modify means for modifying a velocity command value defined in a velocity profile by using a result of the operation performed by said second operation means;
• energy calculation means for calculating electric energy to be supplied to the motor by performing PID operation using the velocity command value modified by said modify means and the velocity information calculated by said velocity calculation means;
• and
• drive means for driving the motor by outputting the electric energy calculated by said energy calculation means,
• wherein said coefficient becomes a predetermined value at the end of the acceleration region.

An apparatus for controlling a motor by dividing the controlling into a plurality of region including an acceleration region in a device in which a mechanism is driven using the motor as a power source comprising:

• an encoder for outputting a signal in response to a movement of the mechanism;
• velocity calculation means for calculating velocity information based on the signal outputted from said encoder;
• position calculation means for calculating position information based on the signal outputted from said encoder;
• first difference calculation means for calculating a difference between a position command value defined in a position profile and the position information;
• operation means for performing an operation on the difference calculated by said first difference calculation means by using a coefficient that varies depending upon time;
• second difference calculation means for modifying a velocity command value defined in a velocity profile by using a result of the operation performed by said operation means, and calculating a difference between the modified velocity command value and the velocity information calculated by said velocity calculation means, when controlling the motor within the acceleration region;
• energy calculation means for calculating electric energy to be supplied to the motor by performing an predetermined operation on the difference calculated by said second difference calculation means;
• and
• drive means for driving the motor by outputting the electric energy calculated by said energy calculation means,
• wherein said second difference calculation means calculates the difference between the velocity command value defined in the velocity profile and the velocity information calculated by said velocity calculation means, when controlling the motor in a region other than the acceleration region.