MOTOR CONTROL APPARATUS, SHEET CONVEYANCE APPARATUS, DOCUMENT FEEDING APPARATUS, DOCUMENT READING APPARATUS, AND IMAGE FORMING APPARATUS

• US 20180309400A1
• Filed: 04/02/2018
• Published: 10/25/2018
• Est. Priority Date: 04/24/2017
• Status: Active Grant

• Current Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Original Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Inventors: Kitamura, Shingo
• Granted Patent: US 10,141,879 B2
• Time in Patent Office: Days
• CPC Class Codes: B65H 2403/92 Electric drive
• CPC Class Codes: B65H 5/06 by rollers or balls, e.g. between rollers transport by suction rollers B65H5/226
• CPC Class Codes: G03G 15/50 Machine control of apparatus for electrographic processes using a charge pattern, e.g. regulating differents parts of the machine, multimode copiers, microprocessor control sequencing control G03G21/14
• CPC Class Codes: G03G 15/6558 Feeding path after the copy sheet preparation and up to the transfer point, e.g. registering; Deskewing; Correct timing of sheet feeding to the transfer point
• CPC Class Codes: G03G 15/80 Details relating to power supplies, circuits boards, electrical connections
• CPC Class Codes: G03G 2215/00556 Control of copy medium feeding
• CPC Class Codes: G03G 2221/1657 transmitting mechanical drive power
• CPC Class Codes: H02P 21/18 Estimation of position or speed
• CPC Class Codes: H02P 21/22 Current control, e.g. using a current control loop
• CPC Class Codes: H02P 27/06 using dc to ac converters or inverters H02P27/05 takes precedence
• CPC Class Codes: H02P 8/12 Control or stabilisation of current

Abstract

An apparatus, to control a motor from an instructed phase indicating a motor rotor target phase, includes a detector, a phase determiner, a converter, and a controller. The detector detects a motor winding driving current. The phase determiner determines a rotor rotation phase from the detected driving current. The converter converts a detected current value in a stationary coordinate system into a current value in a rotational coordinate system from the determined rotation phase. The controller includes a first mode for controlling the driving current to cause a determined phase deviation between the instructed and rotation phases to decreased, and a second mode for controlling the driving current from a current having a previously determined magnitude. On switching the mode from the second to the first mode, the first mode target value is set from a driving current value corresponding to a current component represented by the rotational coordinate system.

Claims

1. A motor control apparatus to control a motor based on an instructed phase indicating a target phase of a rotor of the motor, the motor control apparatus comprising:

a detector configured to detect a driving current flowing through a winding of the motor;

a phase determiner configured to determine a rotation phase of the rotor based on the driving current detected by the detector;

a converter configured to convert a current value in a stationary coordinate system which is detected by the detector into a current value in a rotational coordinate system based on the rotation phase determined by the phase determiner; and

a controller including a first control mode for controlling the driving current in a manner that a magnitude of the driving current detected by the detector becomes a target value set in a manner that a phase deviation between the instructed phase and the rotation phase determined by the phase determiner is decreased, and a second control mode for controlling the driving current based on a current having a previously determined magnitude,

wherein, in a case where the control mode for controlling the driving current is switched from the second control mode to the first control mode, the target value in the first control mode is set based on a value of a torque current component of the driving current detected by the detector during execution of the second control mode, and

wherein the torque current component corresponds to a current component represented by the rotational coordinate system of the driving current converted by the converter.

2. The motor control apparatus according to claim 1,

wherein the first control mode is a control mode in which integral control is performed based on the phase deviation to decrease the phase deviation, and the driving current is controlled in a manner that the magnitude of the driving current detected by the detector becomes the target value set based on the integral control, and

wherein, in a case where the control mode for controlling the driving current is switched from the second control mode to the first control mode, an initial value of the integral control in the first control mode is set based on the value of the torque current component of the driving current detected by the detector during the execution of the second control mode.

3. The motor control apparatus according to claim 2,

wherein the initial value of the integral control is set based on a value lower than the value of the torque current component of the driving current detected by the detector during the execution of the second control mode,

wherein the value lower than the value of the torque current component is determined based on the value of the torque current component of the driving current detected by the detector during the execution of the second control mode, and

wherein the controller sets a target value of the torque current component based on the initial value of the integral control which is set based on the value lower than the value of the torque current component.

4. The motor control apparatus according to claim 3, wherein the value lower than the value of the torque current component is a value proportional to the value of the torque current component of the driving current detected by the detector during the execution of the second control mode.

5. The motor control apparatus according to claim 2,

wherein the first control mode is a control mode for controlling the driving current in a manner that the value of the torque current component of the driving current converted by the converter becomes a target value of the torque current component set to decrease the phase deviation, and

wherein the target value of the torque current component is set based on the integral control in which the initial value is set.

6. The motor control apparatus according to claim 1,

wherein the converter converts the driving current at a predetermined cycle, and

wherein the target value of the torque current component is set based on the value of the torque current component of the driving current lastly converted by the converter before the control mode is switched from the second control mode to the first control mode.

7. The motor control apparatus according to claim 1, wherein, in a case where a rotation speed corresponding to a target speed of the rotor takes a value higher than a predetermined value during the execution of the second control mode, the controller switches the control mode for controlling the driving current from the second control mode to the first control mode.

8. The motor control apparatus according to claim 7,

wherein the controller includes an induced voltage determiner configured to determine a magnitude of an induced voltage in the winding in a first phase and a magnitude of an induced voltage in the winding in a second phase, which are induced by rotation of the rotor of the motor, based on the driving current detected by the detector, and

wherein the phase determiner determines the rotation phase of the rotor of the motor based on the magnitude of the induced voltage in the first phase and the magnitude of the induced voltage in the second phase determined by the induced voltage determiner.

9. The motor control apparatus according to claim 8, wherein the predetermined value is set as the rotation speed at which the phase determiner can determine the rotation phase of the rotor of the motor based on the magnitude of the induced voltage in the first phase and the magnitude of the induced voltage in the second phase which are determined by the induced voltage determiner.

10. The motor control apparatus according to claim 7, wherein the rotation speed corresponding to the target speed changes at a second predetermined cycle.

11. The motor control apparatus according to claim 10, wherein the second predetermined cycle is the same cycle as a cycle at which the controller controls the motor.

12. The motor control apparatus according to claim 10, wherein the second predetermined cycle is the same cycle as a cycle at which the detector detects the driving current.

13. The motor control apparatus according to claim 1,

wherein the controller includes a first generator, a second generator, and a current provider,

wherein the first generator includes a first integral controller configured to perform integral control, in a manner that a first deviation between the target value of the torque current component and the value of the torque current component of the driving current detected by the detector is decreased, based on the phase deviation in the first control mode and generates a driving voltage to be applied to the winding based on the integral control by the first integral controller,

wherein the second generator includes a second integral controller configured to perform integral control, in a manner that a second deviation between a target value of an excitation current component that affects an intensity of magnetic flux penetrating through the winding which is represented in the rotational coordinate system and a value of the excitation current component of the driving current detected by the detector is decreased, based on the phase deviation in the first control mode and generate a driving voltage to be applied to the winding based on the integral control by the second integral controller, and

wherein the current provider is configured to provide driving currents corresponding to the driving voltages generated by the first generator and the second generator to the winding.

14. The motor control apparatus according to claim 13,

wherein the controller includes a second converter configured to convert the current value of the driving current detected by the detector into a current value in a second rotational coordinate system based on the instructed phase in the second control mode,

wherein the first generator generates the driving voltage to be applied to the winding based on the integral control performed by the first integral controller, in a manner that a third deviation between a target value of a first current component that is a current component corresponding to the torque current component represented in the second rotational coordinate system and a value of the first current component converted by the second converter is decreased, based on the phase deviation in the second control mode,

wherein the second generator generates the driving voltage to be applied to the winding based on the integral control performed by the second integral controller, in a manner that a fourth deviation between a target value of a second current component that is a current component corresponding to the excitation current component represented in the second rotational coordinate system and a value of the second current component converted by the second converter is decreased, based on the phase deviation in the second control mode, and

wherein the current provider provides the driving currents corresponding to the driving voltages generated by the first generator and the second generator to the winding in the second control mode.

15. The motor control apparatus according to claim 14, wherein the target value of the first current component is set as 0, and the target value of the second current component is set as a previously determined value.

16. The motor control apparatus according to claim 14,

wherein the controller includes

a third generator that includes a third integral controller configured to perform integral control, in a manner that a fifth deviation between a target value of a third current component represented in the stationary coordinate system and a value of the third current component of the driving current detected by the detector is decreased, based on the phase deviation in the second control mode, and generates a driving voltage to be applied to the winding based on the integral control by the third integral controller, and

a fourth generator that includes a fourth integral controller configured to perform integral control, in a manner that a sixth deviation between a target value of a fourth current component represented in the stationary coordinate system and a value of the fourth current component of the driving current detected by the detector is decreased, based on the phase deviation in the second control mode, and generates a driving voltage to be applied to the winding based on the integral control by the fourth integral controller,

wherein the current provider provides the driving currents corresponding to the driving voltages generated by the third generator and the fourth generator to the winding in the second control mode, and

wherein integration initial values in the first integral controller and the second integral controller are set based on integral values in the third integral controller and the fourth integral controller.

17. The motor control apparatus according to claim 1, wherein the first control mode is a control mode for controlling the value of the excitation current component of the driving current detected by the detector to be set as zero and controlling the value of the torque current component of the driving current detected by the detector to control the motor.

18. The motor control apparatus according to claim 1, further comprising:

a first control circuit configured to provide a driving current to both the winding in a first phase and the winding in a second phase of the motor in a case where the first control mode is executed;

a second control circuit configured to provide a driving current to both the winding in the first phase and the winding in the second phase of the motor in a case where the second control mode is executed; and

a switcher configured to switch whether to control the motor by using the first control circuit or whether to control the motor by using the second control circuit.

19. A motor control apparatus to control a motor based on an instructed speed indicating a target speed of a rotor of the motor, the motor control apparatus comprising:

a detector configured to detect a driving current flowing through a winding of the motor;

a phase determiner configured to determine a rotation phase of the rotor based on the driving current detected by the detector;

a speed determiner configured to determine a rotation speed of the rotor;

a converter configured to convert a current value in a stationary coordinate system which is detected by the detector into a current value in a rotational coordinate system based on the rotation phase determined by the phase determiner; and

a controller including a first control mode for controlling the driving current in a manner that a magnitude of the driving current detected by the detector becomes a target value set in a manner that a phase deviation between an instructed phase indicating a target phase of a rotor of the motor and the rotation phase determined by the phase determiner is decreased, and a second control mode for controlling the driving current based on a current having a previously determined magnitude,

wherein, in a case where the control mode for controlling the driving current is switched from the second control mode to the first control mode, the target value in the first control mode is set based on a value of a torque current component of the driving current detected by the detector during execution of the second control mode, and

wherein the torque current component corresponds to a current component represented by the rotational coordinate system of the driving current converted by the converter.

20. A sheet conveyance apparatus to convey a sheet, the sheet conveyance apparatus comprising:

a conveyance roller configured to convey the sheet;

a motor configured to drive the conveyance roller;

a detector configured to detect a driving current flowing through a winding of the motor;

a phase determiner configured to determine a rotation phase of a rotor of the motor based on the driving current detected by the detector;

a converter configured to convert a current value in a stationary coordinate system which is detected by the detector into a current value in a rotational coordinate system based on the rotation phase determined by the phase determiner; and

a controller including a first control mode for controlling the driving current in a manner that a magnitude of the driving current detected by the detector becomes a target value set in a manner that a phase deviation between the instructed phase and the rotation phase determined by the phase determiner is decreased, and a second control mode for controlling the driving current based on a current having a previously determined magnitude,

wherein, in a case where the control mode for controlling the driving current is switched from the second control mode to the first control mode, the target value in the first control mode is set based on a value of a torque current component of the driving current detected by the detector during execution of the second control mode, and

wherein the torque current component corresponds to a current component represented by the rotational coordinate system of the driving current converted by the converter.

21. A document feeding apparatus to feed a document, the document feeding apparatus comprising:

a document tray onto which a document is stacked;

a conveyance roller configured to convey the document stacked onto the document tray;

a motor configured to drive the conveyance roller;

a detector configured to detect a driving current flowing through a winding of the motor;

a phase determiner configured to determine a rotation phase of a rotor of the motor based on the driving current detected by the detector;

a converter configured to convert a current value in a stationary coordinate system which is detected by the detector into a current value in a rotational coordinate system based on the rotation phase determined by the phase determiner; and

a controller including a first control mode for controlling the driving current in a manner that a magnitude of the driving current detected by the detector becomes a target value set in a manner that a phase deviation between the instructed phase and the rotation phase determined by the phase determiner is decreased, and a second control mode for controlling the driving current based on a current having a previously determined magnitude,

wherein, in a case where the control mode for controlling the driving current is switched from the second control mode to the first control mode, the target value in the first control mode is set based on a value of a torque current component of the driving current detected by the detector during execution of the second control mode, and

wherein the torque current component corresponds to a current component represented by the rotational coordinate system of the driving current converted by the converter.

22. A document reading apparatus to read an image of a document, the document reading apparatus comprising:

a document tray onto which a document is stacked;

a conveyance roller configured to convey the document stacked onto the document tray;

a reading unit configured to read the document conveyed by the conveyance roller;

a motor configured to drive the conveyance roller;

a detector configured to detect a driving current flowing through a winding of the motor;

a phase determiner configured to determine a rotation phase of a rotor of the motor based on the driving current detected by the detector;

a converter configured to convert a current value in a stationary coordinate system which is detected by the detector into a current value in a rotational coordinate system based on the rotation phase determined by the phase determiner; and

a controller including a first control mode for controlling the driving current in a manner that a magnitude of the driving current detected by the detector becomes a target value set in a manner that a phase deviation between the instructed phase and the rotation phase determined by the phase determiner is decreased, and a second control mode for controlling the driving current based on a current having a previously determined magnitude,

wherein, in a case where the control mode for controlling the driving current is switched from the second control mode to the first control mode, the target value in the first control mode is set based on a value of a torque current component of the driving current detected by the detector during execution of the second control mode, and

wherein the torque current component corresponds to a current component represented by the rotational coordinate system of the driving current converted by the converter.

23. An image forming apparatus to form an image on a recording medium, the image forming apparatus comprising:

an image forming unit configured to form the image on the recording medium;

a motor configured to drive load;

a detector configured to detect a driving current flowing through a winding of the motor;

a phase determiner configured to determine a rotation phase of a rotor of the motor based on the driving current detected by the detector;

a converter configured to convert a current value in a stationary coordinate system which is detected by the detector into a current value in a rotational coordinate system based on the rotation phase determined by the phase determiner; and

a controller including a first control mode for controlling the driving current in a manner that a magnitude of the driving current detected by the detector becomes a target value set in a manner that a phase deviation between the instructed phase and the rotation phase determined by the phase determiner is decreased, and a second control mode for controlling the driving current based on a current having a previously determined magnitude,

wherein, in a case where the control mode for controlling the driving current is switched from the second control mode to the first control mode, the target value in the first control mode is set based on a value of a torque current component of the driving current detected by the detector during execution of the second control mode, and

wherein the torque current component corresponds to a current component represented by the rotational coordinate system of the driving current converted by the converter.

24. The image forming apparatus according to claim 23, wherein the load is a conveyance roller that conveys the recording medium.