Electric apparatus and control method therefor

Patent metadata

Field	Value
Publication number	US-11399110-B2
Application number	US-201916390544-A
Country	US
Kind code	B2
Filing date	Apr 22, 2019
Priority date	Apr 27, 2018
Publication date	Jul 26, 2022
Grant date	Jul 26, 2022

Abstract

An apparatus detects movement of a target object, estimates a control quantity for first feedback control for the target object at a first period, based on a detection signal, and estimates a first state quantity of the target object and a second state quantity obtained by time differentiation of the first state quantity in order to perform second feedback control for the target object at a second period shorter than the first period, based on the detection signal. The apparatus generates a first operation quantity for the first feedback control, based on the estimated control quantity, generates a second operation quantity for the second feedback control, based on the estimated first and second state quantities, and determines an output value, based on a result of comparing the second operation quantity with a maximum value of the first operation quantity.

First claim

What is claimed is:

1. An electric apparatus for controlling movement of a target object, comprising:
a central processing unit (CPU);
an application-specific integrated circuit (ASIC);
a motor configured to move the target object;
a sensor configured to detect the movement of the target object;
a first estimation unit configured to estimate, based on a detection signal output from the sensor, a control quantity for performing first feedback control in a first period;
a second estimation unit configured to estimate, based on the detection signal output from the sensor, a velocity of the target object and an acceleration obtained by time differentiation of the velocity in a second period shorter than the first period;
a first generation unit implemented by the CPU and configured to generate, based on the control quantity estimated by the first estimation unit, a first operation quantity for driving the motor in order to perform the first feedback control for the target object in the first period;
a second generation unit implemented by the ASIC and configured to generate, based on the velocity and the acceleration estimated by the second estimation unit, a second operation quantity for driving the motor in order to perform second feedback control for the target object in the second period;
a synthesizing unit implemented by the ASIC and configured to synthesize the first operation quantity and the second operation quantity to generate a third operation quantity for driving the motor; and
a comparison unit implemented by the ASIC and configured to compare the third operation quantity with a maximum value of values that can be taken as the first operation quantity,
wherein, within a constant movement region of a velocity profile of the target object, when the maximum value is not less than the third operation quantity, the motor is controlled using the third operation quantity from the synthesizing unit, and when the maximum value is less than the third operation quantity, the motor is controlled using the first operation quantity from the first generation unit.

2. The apparatus according to claim 1 , further comprising:
a motor driver configured to drive the motor, wherein the motor is controlled using the first operation quantity via the motor driver or using the third operation quantity via the motor driver.

3. The apparatus according to claim 2 ,
wherein the first operation quantity and the second operation quantity are duty values of a pulse width modulation (PWM) signal used by the motor driver to drive the motor using the PWM signal.

4. The apparatus according to claim 3 , wherein the maximum value that can be taken as the first operation quantity is a period of the PWM signal.

5. The apparatus according to claim 1 ,
wherein a sign of the second operation quantity is determined based on the velocity and the acceleration estimated by the second estimation unit.

6. The apparatus according to claim 1 , wherein
the electric apparatus comprises a printing apparatus configured to print on a print medium with a printhead by reciprocally moving a carriage mounted with the printhead, and
the target object comprises the carriage.

7. The apparatus according to claim 6 , wherein
the velocity of the target object comprises the velocity of the carriage, and
the acceleration comprises the acceleration of the carriage.

8. The apparatus according to claim 6 , wherein
the sensor includes an encoder sensor configured to detect a position of the carriage, and
the position of the carriage is estimated by counting a pulse signal of an encoder signal output from the encoder sensor, and the velocity of the carriage is estimated by measuring a pulse width of the pulse signal.

9. The apparatus according to claim 1 , wherein
the electric apparatus comprises one of a scanner apparatus configured to read an image of an original by a scanner unit mounted with a contact image sensor (CIS) or a charge coupled device (CCD) sensor by moving the scanner unit, and a multi-function printer obtained by providing the scanner apparatus in a printing apparatus for printing on a print medium with a printhead by reciprocally moving a carriage mounted with the printhead, and
the target object comprises the scanner unit.

10. The apparatus according to claim 1 , further comprising:
a first register to which the value related to the first operation quantity is written; and
a second register to which an operation quantity used to control the motor is written.

11. The apparatus according to claim 1 , further comprising:
a register to which the first operation quantity is written; and
a latch circuit configured to latch a value in the register,
wherein the ASIC outputs based on the value in the register and the value latched in the latch circuit.

12. The apparatus according to claim 1 , wherein when the synthesizing unit terminates a synthesizing process, the comparison unit starts a comparison operation.

13. The apparatus according to claim 1 , wherein the first operation quantity and the second operation quantity are updated asynchronously.

14. The apparatus according to claim 1 , wherein the second operation quantity is determined based on a two-dimensional coordinate space representing the relationship between the velocity and the acceleration.

15. The apparatus according to claim 1 , wherein if the first operation quantity is changed, the third operation quantity is not updated.

16. The apparatus according to claim 1 , wherein if the third operation quantity is greater than the maximum value, inconsistency occurs in the third operation quantity.

17. A control method for an electric apparatus for controlling movement of a target object, the electric apparatus including a central processing unit (CPU), an application-specific integrated circuit (ASIC), and a motor configured to move the target object, the method comprising:
detecting the movement of the target object;
estimating, based on the detection signal output by the detecting, a control quantity for performing first feedback control in a first period;
estimating, based on the detection signal output by the detecting, a velocity of the target object and an acceleration obtained by time differentiation of the velocity in a second period shorter than the first period;
generating, with the ASIC, based on the control quantity estimated in the first estimating, a first operation quantity for driving the motor in order to perform the first feedback control for the target object in the first period;
generating, with the ASIC, based on the velocity and the acceleration estimated in the second estimating, a second operation quantity for driving the motor in order to perform second feedback control for the target object in the second period;
generating, with the ASIC, a third operation quantity for driving the motor by synthesizing the first operation quantity and the second operation quantity; and
comparing, with the ASIC, the third operation quantity with a maximum value of values that can be taken as the first operation quantity,
wherein, within a constant movement region of a velocity profile of the target object, when the maximum value is not less than the third operation quantity, the motor is controlled using the third operation quantity, and when the maximum value is less than the third operation quantity, the motor is controlled using the first operation quantity.

Assignees

• Canon Kk

Inventors

• Suzuki Yuichiro
• Uchida Eriko

Classifications

• H04N1/1035 Primary

  by other means, e.g. linear motor or hydraulic system · CPC title

• H04N1/00798 Primary

  Circuits or arrangements for the control thereof, e.g. using a programmed control device or according to a measured quantity · CPC title

• B41J19/207

  Encoding along a bar · CPC title

• B41J19/202

  Drive control means for carriage movement · CPC title

• B41J29/38

  Drives, motors, controls or automatic cut-off devices for the entire printing mechanism · CPC title