MOTOR DRIVER AND IMAGE FORMING APPARATUS

摘要

PROBLEM TO BE SOLVED: To provide a motor driver which can control an error between the target speed and the actual speed.

SOLUTION: This printer decides the manipulated variable u to a motor for driving a carriage by feedback control system. Moreover, it adds a corrected variable c to the manipulated variable u, and inputs a current corresponding to the manipulated variable u'=u+c after correction into the motor so as to drive the motor. What is more, the corrected variable c is decided, based on correction data. The correction data consist of n pieces of basic corrected variables D[i], and this device gets a manipulated variable u' by deciding the corrected variable into c=k×D[i], when the carriage passes the first main correctional position P[i]. Moreover, this device updates the corrected variable D[i] into a one smaller value in case that the error ε between the carriage speed and the target speed is larger than the threshold Th when the carriage passes the learned position corresponding to the position P[i]. In case that the error ε is smaller than the threshold -Th, it updates the error into a one larger value. Hereby, it updates the correction data in a direction that the error ¾ε¾ becomes smaller.

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