| 摘要 |
<p>PROBLEM TO BE SOLVED: To properly convey an object to a target stop position.SOLUTION: An image forming system causes a motor to rotate a conveyance roller, to convey a sheet under an inkjet head by a predetermined amount Ye. In a control process for conveying the sheet by the predetermined amount Ye, a dead time compensation amountδis added to a moving amount Y of the sheet detected by an optical sensor, to calculate a moving amount Y=Y+δ. A feedback operation amount Ufb corresponding to a deviation E=Yr-Ybetween a target moving amount Yr and the corrected moving amount Yis calculated, to determine an operation amount U obtained by adding the operation amount Ufb to a feedforward operation amount Uff as an operation amount U on the motor. Until the sheet comes close to a target stop position, the operation amount U is input to a Smith compensator 139, while zero is input to the Smith compensator through a switch 137 when the sheet comes close to the target stop position. When the sheet comes close to the target stop position, a compensation amountδis decreased to zero.</p> |
