| 摘要 |
PURPOSE:To obtain good characteristics by calculating the initial value of control parameter from a detected data and making it converge into an optimum value quickly in the motor control apparatus of a serial printer or the like. CONSTITUTION:The operating speed of a control objective 5 is detected by speed detecting means 6, and then it is converted into a speed data. The data is sent to data retaining means 7 and a speed subtracter 9. Speed errors Ve are calculated and forwarded to PID control means 1. The data sent to the data retaining means is retained at a designated timing. The voltage output from a vacuum sensor is inputted in MPU through an A/D converter, and converted into ink residual quantity. At an initial value calculator 11, the initial value of the control parameter is calculated. Then, the duty of PWM is calculated, and a carriage is driven by the value, and by repeating these operations, it is brought near an optimum value. |
