| 摘要 |
PURPOSE:To shorten speed setting time and besides to eliminate rotation fluctuation by modifying an integration gain at the starting time of motor rotation and at the time of steady control rotation, and modifying the integration terms at the modifying time of the integration gain. CONSTITUTION:An encoder 102 detects the rotation of a scanner motor 101, and a control section 103 compares it with a target value, determines the output of PID control, operates an H-type driver 105 through a PWM generator 104, and controls the rotational speed of the scanner 101. The control section 103 has different integration gains at the starting time of rotation and at the reaching time to a steady-state rotational speed, uses them according to respective regions, and modifies the integration terms at the switching time of the integration gain. |
