| 摘要 |
PURPOSE:To realize a printing with a high grade by storing a maximum speed of a print head carriage, obtaining a mean value at every fixed number of operations, and changing the mean value to a state feedback control gain obtained previously when the mean value exceeds a predetermined threshold. CONSTITUTION:A print head 30, attached to a print head carriage 31, reciprocates being guided by a linear guide 32. The print head carriage 31 is driven through a belt 35. A rotary encoder 36 detects an angle of rotation and a rotational speed of an idle pulley 37. A position and a speed of the print head carriage are estimated so as to be fetched in a state feedback controller together with detected quantities of states of a DC servomotor 33 and the idle pulley 37, and a motor drive command value is calculated by using a previously obtained state feedback control gain. A maximum speed of the print head carriage is stored and a mean value is obtained at every fixed number of rotations. When the mean value exceeds a predetermined threshold, it is changed to the previously obtained state feedback control gain. |
