Transport System, Image Forming System, and Control Device

摘要

There is provided a transport system including: a transport mechanism including first and second rollers; first and second driving devices; first and second measuring devices configured to measure a state quantities Z1 and Z2; and a controller configured to control the first and second driving devices. The controller is configured to perform: estimating reaction forces R1 and R2; calculating control inputs U1 and U2; inputting, to the first driving device, a control signal in accordance with a sum of the control input U1 and the control input U2; inputting, to the second driving device, a control signal in accordance with a difference between the control input U1 and the control input U2; estimating non-tensional components RE1 or RE2; and correcting the control input U2 to prevent a control error caused by the non-tensional components RE1 and RE2 included in an estimated tension of the sheet (R1−R2)/2.

主权项

1. A transport system configured to transport a sheet, comprising:
a transport mechanism including a first roller and a second roller which are arranged apart from each other along a transport path of the sheet to transport the sheet in a transport direction; a first driving device configured to rotate the first roller; a second driving device configured to rotate the second roller; a first measuring device configured to measure a state quantity Z1 concerning a rotary motion of the first roller; a second measuring device configured to measure a state quantity Z2 concerning a rotary motion of the second roller; and a controller configured to control an operation of transporting the sheet with rotations of the first roller and the second roller by controlling the first driving device and the second driving device;
the controller being configured to perform:estimating a reaction force R1 acting on the first roller in a case that the first roller is rotated by the first driving device;estimating a reaction force R2 acting on the second roller in a case that the second roller is rotated by the second driving device;calculating a control input U1 in accordance with a deviation between a target state quantity and a state quantity of the sheet (Z1+Z2)/2, based on the state quantity Z1 measured by the first measuring device and the state quantity Z2 measured by the second measuring device;calculating a control input U2 in accordance with a deviation between a target tension and an estimated tension of the sheet (R1−R2)/2, based on the reaction force R1 and the reaction force R2;inputting, to the first driving device, a control signal in accordance with a sum (U1+U2) of the control input U1 and the control input U2;inputting, to the second driving device, a control signal in accordance with a difference (U1−U2) between the control input U1 and the control input U2;estimating a non-tensional component RE1 which is a component included in the reaction force R1 estimated by the first estimating unit and unrelated to tension of the sheet, based on the reaction force R1 estimated by the first estimating unit during a first period of time in which the sheet is transported only by the first roller from among the first roller and the second roller, or a non-tensional component RE2 which is a component included in the reaction force R2 estimated by the second estimating unit and unrelated to tension of the sheet, based on the reaction force R2 estimated by the second estimating unit during a second period of time in which the sheet is transported only by the second roller from among the first roller and the second roller; andcorrecting the control input U2 to prevent a control error caused by the non-tensional component RE1 and the non-tensional component RE2 included in the estimated tension of the sheet (R1−R2)/2, during a third period of time in which the sheet is transported by both of the first roller and the second roller, based on the non-tensional component RE1 or the non-tensional component RE2.