Printer, drive control method, and motor control program for printer

Abstract

A printer includes a motor, a position calculation unit, a speed calculation unit, a position control unit, a speed control unit, and a switching unit. The motor generates a driving force by which a transported object is transported. The position calculation unit calculates a current position of the transported object through driving the motor. The speed calculation unit calculates a current speed of the transported object through driving the motor. The position control unit controls the motor using at least PI control on the basis of the current position calculated by the position calculation unit and a target position. The speed control unit controls the motor using at least PI control on the basis of the current speed calculated by the speed calculation unit and a target speed. The switching unit switches from control of the motor using the speed control unit to control of the motor using the position control unit at a position that is a predetermined distance before a target stop position to which the motor is driven.

1 . A printer comprising:
 a motor that generates a driving force by which a transported object is transported;   a position calculation unit that calculates a current position of the transported object through driving the motor;   a speed calculation unit that calculates a current speed of the transported object through driving the motor;   a position control unit that controls the motor using at least PI control on the basis of the current position calculated by the position calculation unit and a target position;   a speed control unit that controls the motor using at least PI control on the basis of the current speed calculated by the speed calculation unit and a target speed; and   a switching unit that switches from control of the motor using the speed control unit to control of the motor using the position control unit at a position that is a predetermined distance before a target stop position to which the motor is driven.   
     
     
         2 . The printer according to  claim 1 , wherein in the position control unit and the speed control unit, gains in both the control units are adapted to each other. 
     
     
         3 . The printer according to  claim 2 , wherein the adaptation is performed on the basis of adjustment of a deviation in the position control unit with a deviation in the speed control unit. 
     
     
         4 . The printer according to  claim 1 , wherein the switching unit switches from control of the motor using the speed control unit to control of the motor using the position control unit when the current position calculated by the position calculation unit reaches a portion that is a predetermined distance from the target stop position. 
     
     
         5 . The printer according to  claim 1 , wherein the transported object is a printed medium having a size that is at least larger than or equal to A3 size. 
     
     
         6 . A drive control method for controlling a motor that generates a driving force by which a transported object is transported, the drive control method comprising:
 controlling the motor using at least PI control on the basis of a current speed of the transported object calculated by a speed calculation unit and a target speed;   detecting whether a portion that is a predetermined distance before a target stop position to which the motor is driven is reached; and   controlling the motor using at least PI control on the basis of a current position of the transported object calculated by a position calculation unit and a target position when it is detected that the position that is a predetermined distance before the target stop position is reached.   
     
     
         7 . A computer readable storage medium storing a motor control program for a printer, the program comprising instructions for:
 calculating a current position of a transported object through driving a motor that generates a driving force by which a transported object is transported;   calculating a current speed of the transported object through driving the motor;   controlling the motor using at least PI control on the basis of the calculated current position and a target position;   controlling the motor using at least PI control on the basis of the calculated current speed and a target speed; and   switching from control of the motor using at least PI control on the basis of the calculated current speed and the target speed to control of the motor using the calculated current position and the target position at a portion that is a predetermined distance before a target stop position to which the motor is driven.