Transporting system, image forming system, and controller

摘要

There is provided a transporting system including two rollers to transport a sheet, two driving devices to drive the rollers, two measuring devices, and a controller to control the transport. The controller includes two estimating units to estimate values R1 and R2 related to reaction forces act on the rollers, a first calculating unit to calculate a control input U1, a second calculating unit to calculate a control input U2 in accordance with a deviation between a target value and (R1−R2)/2, first and second drive controllers to input a control signal in accordance with U1 and U2 to the first and second driving devices, and a setting unit. In an initial stage of a period in which the sheet is transported by the two rollers, the setting unit sets the target value to a value greater than that of the target value after the initial stage.

主权项

1. A transporting system comprising:
a first roller and a second roller arranged apart from each other along a transporting path of a sheet to transport the sheet; a first driving device configured to drive the first roller to rotate; a second driving device configured to drive the second roller to rotate; 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 the rotations of the first roller and the second roller, by controlling the first driving device and the second driving device, the controller comprising: a first estimating unit configured to estimate a value R1 related to a reaction force which acts on the first roller in a case that the first roller is driven to rotate by the first driving device; a second estimating unit configured to estimate a value R2 related to a reaction force which acts on the second roller in a case that the second roller is driven to rotate by the second driving device; a first calculating unit configured to calculate a control input U1 in accordance with a deviation between a target state quantity, and a state quantity of the sheet (Z1+Z2)/2 corresponding to the sum (Z1+Z2) of the state quantity Z1 measured by the first measuring device and the state quantity Z2 measured by the second measuring device; a second calculating unit configured to calculate a control input U2 in accordance with a deviation between a target value, and a value (R1−R2)/2 corresponding to the difference (R1−R2) between the value R1 estimated by the first estimating unit and the value R2 estimated by the second estimating unit; a first drive controller configured to input, to the first driving device, a control signal in accordance with the sum (U1+U2) of the control input U1 and the control input U2; a second drive controller configured to input, to the second driving device, a control signal in accordance with the difference (U1−U2) between the control input U1 and the control input U2; and a setting unit configured to set the target value, wherein in an initial stage of a period in which the sheet is transported by both the first roller and the second roller, the setting unit sets the target value to a value greater than that of the target value after the initial stage.