| 摘要 |
PROBLEM TO BE SOLVED: To reduce control residual caused by phase delay and amplitude attenuation which is caused by mechanical rigidity of a drive transmission part.SOLUTION: A first speed command (speed profiles PRd, PRi) for canceling periodical speed fluctuation of a photoreceptor drum 101, and an ITB roller 110 is generated based on a rotational speed fluctuation data of the amount of single rotation of the photoreceptor drum 101, and ITB roller 110. During rotational driving of the photoreceptor drum 101 and ITB roller 110, by using it, a sine wave like second speed command (target angular speed ωtar) regulating amplitude amount which is a rotational frequency of each motor rotation is superposed on the speed profiles PRd, PRi. From each rotational speed of the photoreceptor drum 101, and ITB roller 110 at that time, a phase difference P1 and an amplitude ratio G1 of a drum axis angular speed ωdrm or the like which is a responce characteristics are detected, and based on the amplitude ratio G1 and the phase difference P1, FF control is corrected. |
