IPC분류정보
국가/구분 |
United States(US) Patent
등록
|
국제특허분류(IPC7판) |
|
출원번호 |
US-0696925
(2007-04-05)
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등록번호 |
US-8773726
(2014-07-08)
|
우선권정보 |
KR-10-2006-0086892 (2006-09-08) |
발명자
/ 주소 |
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출원인 / 주소 |
- Samsung Electronics Co., Ltd.
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대리인 / 주소 |
|
인용정보 |
피인용 횟수 :
1 인용 특허 :
3 |
초록
▼
An image forming device capable of controlling a scanning unit and a method to control the scanning unit, the image forming device including a rate error calculator to calculate a rate error from a difference between a practical rotation rate and a target rate of a motor that drives the scanning uni
An image forming device capable of controlling a scanning unit and a method to control the scanning unit, the image forming device including a rate error calculator to calculate a rate error from a difference between a practical rotation rate and a target rate of a motor that drives the scanning unit, a position error calculator to calculate a position error from a difference between a current position and a target position of the motor, and a rate/position controller to output a control pulse to control a rate and a position of the motor by applying the rate error and the position error.
대표청구항
▼
1. An image forming device controlling a motor that drives a unit, the device comprising: a rate error calculator to calculate a rate error from a difference between a practical rotation rate and a target rotation rate of the motor;a position error calculator to calculate a position error from a req
1. An image forming device controlling a motor that drives a unit, the device comprising: a rate error calculator to calculate a rate error from a difference between a practical rotation rate and a target rotation rate of the motor;a position error calculator to calculate a position error from a required target rate and a time interval of a time interrupt that is generated by a central processing unit (CPU) every control cycle;a motor state controller to determine a state of the motor using the practical rotation rate, the current position, and the time interrupt;a rate commander to output the target rotation rate that is optimal for the determined state of the motor to the rate error calculator;a rate/position controller to output a control pulse to control a rotation rate and a position of the motor by applying the rate error received from the rate error calculator and the position error received from the position error calculator;an encoder to output at least two pulses that vary according to the practical rotation rate of the motor;a practical rotation rate measurer to measure the practical rotation rate using a time interval and a physical distance interval of the at least two pulses; anda current position measurer to measure the current position by counting a number of edges whenever each of the edges is generated from the at least two pulses,wherein the motor state controller operates the rate commander at time intervals when the time interrupt is generated, so as to output a target rotation rate optimal to the determined state of the motor. 2. The image forming device as claimed in claim 1, wherein the position error calculator calculates a target position using a target rotation rate and a preset position error calculation cycle. 3. The image forming device as claimed in claim 1, wherein the position error calculator calculates the position error using the following equation: Perr=(∫Vcmd×T)−Pmea where Perr is the position error, Vcmd is the target rotation rate, T is a position error calculation cycle, and Pmea is the current position. 4. The image forming device as claimed in claim 1, wherein the rate/position controller comprises: a rate controller to calculate a rate control voltage for rate control;a position controller to calculate a position control voltage for position control; anda pulse width modulator (PWM) to output the control pulse by applying a pulse width modulation method to a sum of the rate control voltage and the position control voltage. 5. The image forming device as claimed in claim 4, wherein the rate/position controller further comprises: an adder to add the rate control voltage and the position control voltage. 6. The image forming device as claimed in claim 4, wherein the rate controller calculates the rate control voltage using the following eauation: ratecontrolvoltage=(Verr×GP-V)+((∫Verr)×GI-V)+((ⅆⅆtVerr)×GD-V)where Verr is the rate error, GP-V is a rate proportional gain preset in the rate controller, GI-V is a rate integral gain preset in the rate controller, and GD-V is a rate differential gain preset in the rate controller. 7. The image forming device as claimed in claim 4, wherein the position controller calculates the position control voltage using the following equation: positioncontrolvoltage=(Perr×GP-P)+((∫Perr)×GI-P)+((ⅆⅆtPerr)×GD-P)where Perr is the position error, GP-P is a position proportional gain preset in the position controller, GI-P is a position integral gain preset in the position controller, and GD-P is a position differential gain preset in the position controller. 8. The image forming device as claimed in claim 4, wherein: the rate controller calculates the rate control voltage for rate control by applying a control method to the rate error; andthe position controller calculates the position control voltage for position control by applying the control method to the position error. 9. The image forming device as claimed in claim 8, wherein the control method is one of a Proportional Integral Derivative (PID) control method, a Proportional Integral (PI) control method, an Integral Derivative (ID) control method, a Proportional Derivative (PD) control method, a proportional control method, an integral control method, and a rate control method. 10. The image forming device as claimed in claim 1, wherein the unit is a scanning unit. 11. A method of controlling a scanning unit, the method comprising: calculating a rate error from a difference between a practical rotation rate and a target rotation rate of a motor that drives the scanning unit;determining a state of the motor using the practical rotation rate, the current position, and a time interrupt;calculating an optimal target rotation rate for the determined state of the motor and outputting the optimal target rotation rate for use in a calculating of rate;calculating a position error from a required target rate, the optimal target rotation rate, and a time interval of a time interrupt that is generated by a central processing unit (CPU) every control cycle;outputting a control pulse to control a rotation rate and a position of the motor by applying the rate error and the position error;outputting at least two pulses that vary according to the practical rotation rate of the motor;measuring the practical rotation rate using a time interval and a physical distance interval of the at least two pulses; andmeasuring the current position by counting a number of edges whenever each of the edges is generated from the at least two pulses,wherein the calculating the target rotation operated at time intervals when the time interrupt is generated, so as to output a target rotation rate optimal to the determined state of the motor. 12. The method as claimed in claim 11, wherein the calculating of the position error comprises: calculating a target position using a target rotation rate and a preset position error calculation cycle. 13. The method as claimed in claim 11, wherein the calculating of the position error comprises calculating the position error using the following equation: Perr=(∫Vcmd×T)−Pmea where Perr is the position error, Vcmd is the target rotation rate, T is a position error calculation cycle, and Pmea is the current position. 14. The method as claimed in claim 11, wherein the outputting of the control pulse comprises: calculating a rate control voltage for rate control;calculating a position control voltage for position control; andoutputting the control pulse by applying a pulse width modulation method to a sum of the rate control voltage and the position control voltage. 15. The method as claimed in claim 14, wherein the calculating of the rate control voltage comprises calculating the rate control voltage using the following equation: ratecontrolvoltage=(Verr×GP-V)+((∫Verr)×GI-V)+((ⅆⅆtVerr)×GD-V)where Verr is the rate error, GP-V is a rate proportional gain preset in the rate controller, GI-V is a rate integral gain preset in the rate controller, and GD-V is a rate differential gain preset in the rate controller. 16. The method as claimed in claim 14, wherein the calculating of the position control voltage comprises calculating the position control voltage using the following equation: positioncontrolvoltage=(Perr×GP-P)+((∫Perr)×GI-P)+((ⅆⅆtPerr)×GD-P)where Perr the position error, GP-P is a position proportional gain preset in the position controller, GI-P is a position integral gain preset in the position controller, and GD-P is a position differential gain preset in the position controller. 17. The method as claimed in claim 14, wherein: the calculating of the rate control voltage comprises calculating the rate control voltage for rate control by applying a control method to the rate error; andthe calculating of the position control voltage comprises calculating the position control voltage for position control by applying a control method to the position error. 18. The method as claimed in claim 11, wherein the control method is one of a Proportional Integral Derivative (PID) control method, a Proportional Integral (PI) control method, an Integral Derivative (ID) control method, a Proportional Derivative (PD) control method, a proportional control method, an integral control method, and a rate control method. 19. A device to control a motor, the device comprising: a rate controller to calculate a rate control voltage for rate control based on a rate error calculated from a difference between a practical rotation rate and a target rotation rate of the motor;a position controller to calculate a position control voltage for position control based on a position error calculated from required target rate and a time interval of a time interrupt that is generated by a central processing unit (CPU) every control cycle;a pulse width modulator (PWM) to output a control pulse by applying a pulse width modulation method to a sum of the rate control voltage and the position control voltage;a motor state controller to determine a state of the motor using the practical rotation rate, the current position, and the time interrupt;a rate commander to output the target rotation rate that is optimal for the determined state of the motor;a rate/position controller to output the control pulse to control a rotation rate and a position of the motor based on the optimal target rotation rate that is output by the rate commander;an encoder to output at least two pulses that vary according to the practical rotation rate of the motor;a practical rotation rate measurer to measure the practical rotation rate using a time interval and a physical distance interval of the at least two pulses; anda current position measurer to measure the current position by counting a number of edges whenever each of the edges is generated from the at least two pulses,wherein the motor state controller operates the rate commander at time intervals when the time interrupt is generated, so as to output a target rotation rate optimal to the determined state of the motor. 20. The device as claimed in claim 19, further comprising: a rate error calculator to calculate the rate error from the difference between the practical rotation rate and the target rotation rate of the motor that drives the unit; anda position error calculator to calculate the position error from the difference between a current position and a target position of the motor. 21. The device as claimed in claim 20, wherein the position error calculator calculates the target position using the target rotation rate and a preset position error calculation cycle. 22. The device as claimed in claim 20, wherein the position error calculator calculates the position error using the following equation: Perr=(∫Vcmd×T)−Pmea where where Perr is the position error, Vcmd is the target rotation rate, T is a position error calculation cycle, and Pmea is the current position. 23. The device as claimed in claim 19, wherein the rate/position controller further comprises: an adder to add the rate control voltage and the position control voltage. 24. The device as claimed in claim 19, wherein the rate controller calculates the rate control voltage using the following equation: ratecontrolvoltage=(Verr×GP-V)+((∫Verr)×GI-V)+((ⅆⅆtVerr)×GD-V)where Verr is the rate error, GP-V is a rate proportional gain preset in the rate controller, GI-V is a rate integral gain preset in the rate controller, and GD-V is a rate differential gain preset in the rate controller. 25. The device as claimed in claim 19, wherein the position controller calculates the position control voltage using the following equation: positioncontrolvoltage=(Perr×GP-P)+((∫Perr)×GI-P)+((ⅆⅆtPerr)×GD-P)where Perr the position error, GP-P is a position proportional gain preset in the position controller, GI-P is a position integral gain preset in the position controller, and GD-P is a position differential gain preset in the position controller. 26. The device as claimed in claim 19, wherein: the rate controller calculates the rate control voltage for rate control by applying a control method to the rate error; andthe position controller calculates the position control voltage for position control by applying the control method to the position error. 27. The device as claimed in claim 26, wherein the control method is one of a Proportional Integral Derivative (PID) control method, a Proportional Integral (PI) control method, an Integral Derivative (ID) control method, a Proportional Derivative (PD) control method, a proportional control method, an integral control method, and a rate control method. 28. The device as claimed in claim 19, wherein the motor drives a scanning unit of an image forming device. 29. An image forming device controlling a motor that drives a unit, the device comprising: a rate/position controller to output a control signal to control a rotation rate and a position of the motor by applying a rate error and a position error of the motor, the position error calculated based on a required target rate, an optimal target rotation rate, and a time interval of a time interrupt that is generated by a central processing unit (CPU) every control cycle,a motor state controller to determine a state of the motor using a practical rotation rate of the motor, a current position, and the time interrupt;a rate commander to output the target rotation rate that is optimal for the determined state of the motor;an encoder to output at least two pulses that vary according to a practical rotation rate of the motor;a practical rotation rate measurer to measure the practical rotation rate using a time interval and a physical distance interval of the at least two pulses; anda current position measurer to measure a current position by counting a number of edges whenever each of the edges is generated from the at least two pulses;wherein the motor state controller operates the rate commander at time intervals when the time interrupt is generated, so as to output a target rotation rate optimal to the determined state of the motor. 30. The image forming device as claimed in claim 29, further comprising: a rate error calculator to calculate the rate error from a difference between the practical rotation rate and the target rotation rate of the motor; anda position error calculator to calculate the position error from a difference between the current position and a target position of the motor. 31. The image forming device as claimed in claim 29, wherein the position error calculator calculates the position error using the following equation: Perr=(∫Vcmd×T)−Pmea where Perr is the position error, Vcmd is the target rotation rate, T is a position error calculation cycle, and Pmea is the current position. 32. The image forming device as claimed in claim 29, wherein the rate/position controller comprises: a rate controller to calculate a rate control voltage for rate control;a position controller to calculate a position control voltage for position control; anda pulse width modulator (PWM) to output the control signal by applying a pulse width modulation method to a sum of the rate control voltage and the position control voltage. 33. The image forming device as claimed in claim 32, wherein the rate/position controller further comprises: an adder to add the rate control voltage and the position control voltage.
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