Apparatus and method for self tuning proportional and integral controller of DC motor

摘要

The invention complex systems that include multiple variables; (for example, a carrier system of the printer or print device) The actual operation of the performance (performance) (eg, overshoot (overshoot), the rise time (rise time), the steady state error, etc.)), the formula typically determines how the through proportional integration (PI; Proportional and Integral) control in the proportional gain (gain) and the integral gain controller, the self-tuning (self tuning) is proportional to the direct current motor can be a direct current motor control in complex systems, such as efficient carrier system of the printing apparatus by making it integral controller of self-tuning unit and a method. ; is the present invention to do this in a proportional integration control in the direct current motor to a method for self-tuning,, (a) reference (r; reference) for motion plan of the direct current motor (motion plan) the establishing; (B) the proportional gain tuning step to tune the proportional gain (K _P ) of the DC motor; (C) the integral gain (K _I ) integral gain tuning step of tuning to the direct current motor; (D) is characterized in that the tuning of the direct current motor through the proportional gain and integral gain tuning stage tuning step including a step consisting of automatically self-tuning.