| 摘要 |
PURPOSE:To suppress the residual vibration and speed vibration of a printing head carrier after the change of the speed state of said carrier, by driving a motor on the basis of the optimum driving profile until the printing head carrier becomes a constant speed state from a stop state and becomes the stop state from the constant speed state and performing speed control by state feedback in the constant speed state using the optimum feedback gain to the model of a drive system. CONSTITUTION:Until a printing head carrier becomes a constant speed state from a stop state and becomes the stop state from the constant speed state, a motor is driven according to the optimum driving profile of the speed of the motor, wherein the energy of driving force changing a state becomes min., for the time applied to the physical model of a drive system consisting of the motor, a flexible transmitter and the printing head carrier. When the printing head carrier is driven at a constant speed, the optimum feedback gain not imparting the effect due to the printing impact by a printing hammer to the movement of the printing head carrier is calculated according to the optimum regulator rule to apply state feedback to the model of the drive system and the speed of the drive system is controlled. |
