# US 7,147,299 B2 · Control unit and method for controlling motor for use in printer, and storage medium storing control program > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 7,147,299 B2 - Document ID: US7147299B2 - Status: Granted - Kind: B2 - Application number: 11/071,450 - Filed: 2005-03-04 - Published: 2005-07-07 - Granted: 2006-12-12 - Earliest claimed: 1999-09-28 - Assignees: Seiko Epson Corporation - Inventors: Hitoshi Igarashi; Masanori Yoshida - Web page: https://patentgrep.com/patent/US7147299B2 ## CPC - B41J 19/202: {Drive control means for carriage movement} - G05B 19/4163: {Adaptive control of feed or cutting velocity (without NC B23Q15/12)} - G05B 2219/37388: Acceleration or deceleration, inertial measurement - G05B 2219/43006: Acceleration, deceleration control - G05B 2219/43016: Acceleration, deceleration as function of feed rate override - G05B 2219/45187: Printer - B41J: TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract There is provided a control unit capable of rapid and precise stoppage of an object to be driven by a motor for use in a printer. The control unit has a speed control part to control the object by acceleration control, constant speed control, deceleration control, and stoppage control by controlling a current to be applied to the motor, and also an inertia calculating part to calculate inertia of the object based on angular acceleration of the motor under the acceleration control of the object, and current values to be applied to the motor under the acceleration control and the constant speed control of the object. The speed control part uses the calculated inertia for controlling the current to be applied to the motor. ## Claims ### Claim 1 A control unit for controlling a carriage motor for use in a printer, comprising; a speed control part to control a carriage that is driven by the motor by acceleration control, constant speed control, deceleration control, and stoppage control by controlling a current to be applied to the motor; and an inertia calculating part to calculate inertia of the carriage based on angular acceleration of the motor under the acceleration control of the carriage, and current values to be applied to the motor under the acceleration control and the constant speed control of the carriage, the calculated inertia being used by the speed control part for controlling the current to be applied to the motor, and the inertia calculating part executing an inertia calculation based on data necessary for the calculation, which have been stored at timing, just before stoppage. ### Claim 2 (depends on 1) A control unit for controlling a carriage motor for use in a printer, as set forth in claim 1, further comprising a stoppage current calculating part to calculate a stoppage current to be used for stopping the carriage at a target position based on the calculated inertia, an angular velocity of the motor under the deceleration control of the carriage, the current value of the motor under the constant speed control of the carriage, and a stoppage constant TBRK, the speed control part performing control of stopping the carriage by applying the calculated stoppage current. ### Claim 3 (depends on 2) A control unit for controlling a carriage motor for use in a printer, as set forth in claim 2, wherein a predetermined current value Iacc is applied to the motor in a constant current acceleration range under the acceleration control for accelerating the carriage, the inertia calculation part calculating angular acceleration Δω/Δt in the constant current acceleration range, and calculating inertia J of the carriage based on the angular acceleration Δω/Δt, a current value If to be applied to the motor under the constant speed control of the carriage, and the current value Iacc. ### Claim 4 A method of controlling a carriage motor for use in a printer, comprising: calculating inertia of a carriage to be driven by the motor based on angular acceleration of the motor under acceleration control of the carriage, and current values to be applied to the motor under the acceleration control and a constant speed control of the carriage, the inertia calculation being executed based on data necessary for the calculation, which have been stored at timing, just before stoppage; and controlling a current to be applied to the motor by means of the calculated inertia. ### Claim 5 (depends on 4) A method of controlling a carriage motor for use in a printer, as set forth in claim 4, wherein the controlling of the current includes: calculating a stoppage current to be used for stopping the carriage at a target position based on the calculated inertia, an angular velocity of the motor under deceleration control of the carriage, the current value of the motor under the constant speed control of the carriage, and a stoppage constant TBRK; and stopping the carriage by applying the calculated stoppage current to the motor. ### Claim 6 (depends on 4) A method of controlling a carriage motor for use in a printer, as set forth in claim 4, wherein the printer is a serial printer. ### Claim 7 A control unit for controlling a motor for use in a printer, comprising: a speed control part to control an object that is driven by the motor by acceleration control, constant speed control, deceleration control, and stoppage control by controlling a current to be applied to the motor; and an inertia calculating part to calculate inertia of the object based on angular acceleration of the motor under the deceleration control of the object, and current values to be applied to the motor under the acceleration control and the constant speed control of the object, during the deceleration control after a printing processing is completed, the calculated inertia being used by the speed control part for controlling the current to be applied to the motor, wherein the inertia calculating part executes an inertia calculation based on data necessary for the calculation, which have been stored at timing, just before stoppage. ### Claim 8 (depends on 7) A control unit for controlling a motor for use in a printer, as set forth in claim 7, further comprising a stoppage current calculating part to calculate a stoppage current to be used for stopping the object at a target position based on the calculated inertia, an angular velocity of the motor under the deceleration control of the object, the current value of the motor under the constant speed control of the object, and a stoppage constant TBRK, the speed control part performing control of stopping the object by applying the calculated stoppage current. ### Claim 9 (depends on 8) A control unit for controlling a motor for use in a printer, as set forth in claim 8, wherein a predetermined current value Iacc is applied to the motor in a constant current acceleration range under the acceleration control for accelerating the object, the inertia calculation part calculating angular acceleration Δω/Δt in the constant current acceleration range, and calculating inertia J of the object based on the angular acceleration Δω/Δt, a current value If to be applied to the motor under the constant speed control of the object, and the current value Iacc. ### Claim 10 (depends on 9) A control unit for controlling a motor for use in a printer, as set forth in claim 9, wherein the current value If corresponds to a speed of the object under constant speed control just before a transition from the constant speed control to the deceleration control. ### Claim 11 (depends on 8) A control unit for controlling a motor for use in a printer, as set forth in claim 8, wherein the stoppage current calculating part uses an angular velocity under deceleration control just before a transition from the deceleration control to the stoppage control, as the angular velocity of the motor. ### Claim 12 (depends on 8) A control unit for controlling a motor for use in a printer, as set forth in claim 8, wherein the stoppage constant TBRK is decided based on the current value to be applied to the motor under the constant speed control and a positional deviation of an actual position of the motor from the target position. ### Claim 13 (depends on 7) A control unit for controlling a motor for use in a printer, as set forth in claim 7, further comprising a period measuring part to measure a period of each output pulse of an encoder that rotates in accordance with rotation of the motor, the angular acceleration and the angular velocity of the motor being calculated based on the output of the period measuring part. ### Claim 14 (depends on 7) A control unit for controlling a motor for use in a printer, as set forth in claim 7, wherein the motor is a carriage motor for driving a carriage. ### Claim 15 A method of controlling a motor for use in a printer, comprising: calculating inertia of an object to be driven by the motor based on angular acceleration of the motor under deceleration control of the object, and current values to be applied to the motor under acceleration control and a constant speed control of the object, the inertia calculation is being executed based on data necessary for the calculation, which have been stored at timing, just before stoppage; and controlling a current to be applied to the motor by means of the calculated inertia. ### Claim 16 (depends on 15) A method of controlling a motor for use in a printer, as set forth in claim 15, wherein the controlling of the current includes: calculating a stoppage current to be used for stopping the object at a target position based on the calculated inertia, an angular velocity of the motor under the deceleration control of the object, the current value of the motor under the constant speed control of the object, and a stoppage constant TBRK; and stopping the object by applying the calculated stoppage current to the motor. ### Claim 17 (depends on 15) A method of controlling a motor for use in a printer, as set forth in claim 15, wherein the object is a carriage of a serial printer. ### Claim 18 A computer-readable storage medium storing control program code for controlling a motor for use in a printer, comprising; first program code means for calculating inertia of a carriage based on angular acceleration of a carriage motor under deceleration control of the carriage and current values to be applied to the carriage motor under acceleration control and constant speed control of the carriage, the inertia calculation being executed based on data necessary for the calculation, which have been stored at timing, just before stoppage; second program code means for calculating a stoppage current to be used for stopping the carriage at a target position based on the calculated inertia, an angular velocity of the motor under deceleration control of the carriage, the current value to be applied to the motor under the constant speed control of the carriage, and a stoppage constant TBRK; and third program code means for stopping the carriage by applying the calculated stoppage current to the motor.