| 摘要 |
PROBLEM TO BE SOLVED: To properly detect contact with foreign matters by using output of a disturbance observer.SOLUTION: In an ink jet printer, when a carriage is conveyed, a disturbance observer 130 filters a differential signal (U-U) between output Uof an inverse model obtained by inputting the speed V of the carriage into the inverse model being a control target and the operation amount U to a motor with a low-pass filter 135, so as to obtain a reaction estimation value τ1, and inputs τ1 into a reaction estimation unit 140 for determination. The reaction estimation unit 140 for determination eliminates, from the reaction estimation value τ1, components corresponding to the viscous frictional force DV, the dynamic friction μN, and an external force Z depending on a position of the carriage as a component unnecessary for determination of occurrence of paper jam, by using a position X, the speed V, and a temperature T of the carriage and the remaining amount R of ink, and inputs the reaction estimation value τ after the elimination into a paper jam determination unit 160. The paper jam determination unit 160 determines whether or not paper jam has occurred on the basis of the reaction estimation value τ. |
