MOTOR CONTROL METHOD AND MOTOR CONTROL APPARATUS

摘要

PROBLEM TO BE SOLVED: To provide a motor control method and a motor control apparatus which can realize the superior speed stability and can print with a high resolution.

SOLUTION: An LPF 11 removes frequency components whose frequencies are not less than a cut-off frequency fco from the speed information indicating a moving speed of a carriage. A deductor 12 deducts the output of the LPF 11 from a set target speed to calculate a speed deviation. A proportional control value and an integral control value are obtained by a proportional operator 13 and an integral operator 14 according to the speed deviation, and a differential control value is obtained by a differential operator 15 according to the speed information before passing through the LPF 11. An operator 16 deducts the differential control value from a value obtained by adding the proportional control value to the integral control value to obtain a control value of a CR motor driving the carriage. It is to be noted that the cut-off frequency fco is set to a value which can eliminate the influence of a cogging torque produced in the CR motor when the carriage is moved with he target speed.

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