JP4233961B2 - Motor drive control and image forming apparatus - Google Patents

Description

  The present invention relates to motor drive control and an image forming apparatus.

  Droplet discharge recording that forms (records) images by mounting a droplet discharge head that discharges liquid recording liquid (ink) from fine nozzles as various image forming devices such as printers, facsimiles, copying machines, and plotters. A method is known. In addition, by replacing the liquid discharged from the droplet discharge head with something other than ink, for example, liquid photoresist can be discharged to form an image, or a DNA sample can be discharged to form an image. Furthermore, an image forming apparatus that can be applied to electronic parts and wiring formation of electronic parts, display manufacturing such as an organic EL panel, and micro lens processing has been developed.

  In such an image forming apparatus, a recording head composed of a droplet discharge head is mounted on a carriage, and the carriage is directed in the conveyance direction of a recording medium (also referred to as a recording medium or paper). A shuttle type (serial type) that serially scans in a perpendicular direction and transports the recording medium intermittently according to the recording width, and forms (records) an image on the recording medium by alternately repeating the conveyance and recording. And a line type that forms an image by conveying only the recording medium using a line type head having a length corresponding to the width direction of the recording medium.

As a main scanning motor for main-scanning the carriage of such an image forming apparatus or a sub-scanning motor for driving a conveying means for conveying a recording medium, one using a DC servo motor is known. .
JP 2000-37919 A

By the way, when a controlled object driven by a motor is moved or rotated from a certain state and controlled to be driven at a constant speed or an angular speed state, for example, the speed of the controlled object is sampled and detected at a predetermined sampling timing. The control value is calculated by the difference between the calculated value and the control target value, and the output value to the motor is calculated based on the calculated control value. For example, when the motor is driven by PWM control, the PWM duty ratio is set. It is obtained by driving the motor with the output value obtained and obtained by general PID control.
JP-A-5-22978

In such motor drive control, as a method for driving the controlled body from a certain state while moving or rotating the controlled body while suppressing vibration and noise of the controlled body, the acceleration of the controlled body is used. Alternatively, a method is known in which a control target value is obtained using a time-related polynomial based on an acceleration pattern that minimizes the square integral of the second-order differential value of angular acceleration.
Japanese Patent Laid-Open No. 11-187686

In addition, as a rotational speed detection device for controlling the speed of the motor, 1 is added to the pulse difference value detected for each sampling period, and the value divided by the sampling period is output as the limit value for each sampling period. There is a limit value calculating means for limiting the rotation speed calculated for each sampling period to the limit value.
JP 2000-227437 A

Also, as a motor rotation control device, a detection means for detecting the rotation speed of the output shaft of the motor at a plurality of rotation speed detection positions, and a target rotation speed of the output shaft is detected each time the rotation speed is detected by the detection means. And a control means for controlling the rotation of the output shaft based on the difference between the obtained corrected target rotation speed and the detected rotation speed so as to cancel out the detected error of the rotation speed. is there.
JP 2000-341980 A

  In the motor drive control device as described above, it is necessary to suppress the generation of vibration and noise of the controlled body driven by the motor. For example, the main scanning of the carriage of the image forming apparatus and the recording medium by the motor If vibration is generated during the conveyance of the image, inconveniences such as deterioration in image quality occur.

  Therefore, as described in Patent Document 3, the control target value is obtained by a polynomial relating to the time based on the acceleration pattern that minimizes the square integral of the second derivative of the acceleration or angular acceleration of the controlled object. is there.

  However, even if the control target value is obtained by such a method, there is a problem that it is not possible to suppress the vibration of the controlled body caused by a sudden change in the motor output by the control for following the target value.

  The present invention has been made in view of the above problems, and provides a motor drive control device and a device capable of suppressing vibrations caused by sudden fluctuations in motor output while performing control to follow the control target value. An object is to provide an image forming apparatus provided.

In order to solve the above problems, a motor drive control device according to the present invention includes:
In a motor drive control device for driving a motor by calculating a control value for a motor for driving a controlled body at a predetermined sampling timing, obtaining an output value corresponding to the control value ,
Comprising means output value to control the predetermined within limits varying difference or ratio in a predetermined time to the motor based on the control value,
The limit value is set as needed according to the previous output value to the motor .

  An image forming apparatus according to the present invention includes a motor drive control device according to the present invention for driving and controlling a motor as a drive source for scanning a carriage on which a recording head for discharging droplets is mounted. .

  The image forming apparatus according to the present invention includes a motor driving control according to the present invention for driving and controlling a motor as a driving source for driving a conveying unit that conveys a recording medium to an image forming area by a recording head that discharges droplets. It is equipped with a device.

According to the motor drive control device of the present invention, when the difference or ratio at which the output value to the motor changes within a predetermined time is controlled within a predetermined limit value, the limit value is set to the previous output value to the motor. Accordingly, the amount of change in the output value can be suppressed, a rapid change in the motor output can be suppressed, and the generation of vibration and noise can be reduced.

  According to the image forming apparatus according to the present invention, since the motor drive control device according to the present invention is provided, the vibration of the carriage and the recording medium can be suppressed, and the image quality can be improved.

Embodiments of the present invention will be described below with reference to the accompanying drawings. An embodiment of a motor drive control device according to the present invention will be described with reference to FIG. FIG. 1 is a block diagram functionally showing the apparatus.
This motor drive control device 1 controls to move a controlled body (drive target) 3 to a target position at a predetermined speed by rotationally driving a motor 2, and is driven by driving of the motor 2. As information corresponding to the speed of the control body 3, a detection speed (speed detection value) output from the speed detector 4 according to the movement amount of the controlled body 3 or the rotation amount of the motor 2 is input.

  The motor drive control device 1 takes in the speed profile storage unit 11 that stores the speed profile of the motor 2 and the speed detection value from the speed detector 4 at a predetermined sampling period, and obtains the control obtained from the speed profile storage unit 11. An arithmetic control unit 12 that calculates a control value by calculating a difference between the target value and a speed detection value from the speed detector 4, and a motor that calculates a motor output value based on the control value output from the arithmetic control unit 12 An output value control unit 13 and a motor driver 14 that drives the motor 2 according to the motor output value output from the motor output value control unit 13 are provided.

  Here, the output from the motor output value control unit 13 to the motor 2 that drives the controlled body 3 is a PWM signal, and the motor output value control unit 13 uses a general PID for the control value from the arithmetic control unit 12. Control is performed to obtain a PWM duty ratio, and the PWM duty ratio is given to the motor driver 14 to drive the motor 2 by PWM control. 3 is driven at a target speed.

  Further, as shown in FIG. 2, the speed profile stored in the speed profile storage unit 11 accelerates the controlled body 3 from a stopped state, maintains a constant speed when reaching a predetermined speed, and decelerates when approaching the stop position. Then stop. In this case, the target speed v is fixed to a predetermined speed in the constant speed section. Further, in the acceleration / deceleration section, the target speed v is obtained by v = √ (2αx) by setting the movement amount from the acceleration start position or the remaining movement amount to the stop position as x and the acceleration as α. Acceleration / deceleration is performed at a constant acceleration. A target speed (control target value) of the controlled body 3 is obtained from this speed profile.

  And the motor output value control part 13 performs the process which controls the difference or ratio which changes in a fixed time within the limit value predetermined about the motor output value obtained as a calculation result of PID control. Here, a process of limiting the difference between the current output value and the previous output value to be within the limit value ± L0 is performed.

The operation of the motor drive control device configured as described above will be described with reference to FIG.
First, the arithmetic control unit 12 samples the speed detection value from the speed detector 4 at the sampling timing, takes in the control target value, and calculates the control value from the difference between the sampled speed detection value and the control target value.

  Then, the motor output value control unit 13 calculates the current motor output value (PWM duty ratio) N-PWM by PID control with respect to the control value from the arithmetic control unit 12 as described above, and calculates the calculated current motor. The output value N-PWM is stored.

  Next, using the calculated current motor output value N-PWM and the previous motor output value O-PWM, a difference L between them (which is a difference that changes at a constant time since the sampling period is constant). , {(N-PWM)-(O-PWM)} is calculated.

  Then, the calculated difference L is compared with a predetermined difference limit value ± L0 stored in the internal memory or the like in the motor output value control unit 13 to determine whether or not L> + L0. At this time, if L> + L0, that is, if the difference L exceeds the limit value L0 to the + side, the current motor output value N-PWM is calculated by N-PWM = (O-PWM) + L0. Change to output value.

  If L> + L0 is not satisfied, it is determined whether L <−L0. At this time, if L <−L0, that is, if the difference L exceeds the limit value L0 to the − side, the current motor output value N-PWM is expressed by N−PWM = (O−PWM) −L0. Calculate and change to output value.

  The motor 2 is driven through the motor driver 14 using the current motor output value N-PWM obtained in this way.

  As a result, the current motor output value N-PWM is limited such that the difference L from the previous motor output value N-PWM does not exceed the limit value L0.

  Here, the measurement results will be described. FIG. 4 shows a case where a limit is added to the motor output value by applying the present invention. FIG. 4A shows the actual speed (solid line) as a result of following the target speed (two-dot chain line) a. ) B, and FIG. 5B shows the motor output c. FIG. 5 shows a case where no limit is applied to the motor output value. FIG. 5A shows an actual speed (solid line) d as a result of following the target speed (two-dot chain line) a. FIG. 4B shows the motor output e.

  As can be seen from the results of FIGS. 4 and 5, when a limit is added to the motor output value, as shown in FIG. 4B, for example, the variation is suppressed to be small in the change regions f1, f2, and f3. On the other hand, when no limit is added to the motor output value, as shown in FIG. 5B, for example, the fluctuations are extremely large in the change regions g1, g2, and g3.

  By limiting the motor output value in this way, fluctuations in the motor output can be kept small, so that vibration can be reduced, and generation of noise due to vibration can also be reduced.

  In addition, although the example which restrict | limits the difference (difference between this motor output value this time and the last motor output value) within a limit value is demonstrated here, ratio (with respect to the last motor output value) is demonstrated. The ratio of the current motor output value) can also be limited within a limit value (in the following embodiments, an example of limiting by difference will be described, but similarly, a limit by ratio can also be performed).

Next, a second embodiment of the motor drive control device according to the present invention will be described with reference to FIG.
Here, the limit value of the difference L between the current motor output value and the previous motor output value is determined in advance for the driving state of the controlled body 3, that is, the acceleration section, the constant speed section, and the deceleration section. For example, the limit value L0 of the acceleration section is defined as ± La, the limit value L0 of the constant speed section is defined as ± Lf, and the limit value L0 of the deceleration section is defined as ± Lb, and these are stored in a memory in the motor output value control unit 13 or the like. is doing.

  Then, using the current motor output value N-PWM and the previous motor output value O-PWM, the difference L between them is calculated by {(N-PWM)-(O-PWM)}. Any one of the limit values ± La, ± Lf, ± Lb corresponding to the drive state of the controlled body 3 (above section) is read out and taken as the limit value L0. Thereafter, the same processing as in the first embodiment is performed. I do.

  In this way, since the optimum limit value can be used for the drive state of the controlled body, the effect of suppressing vibration can be further enhanced.

Next, a third embodiment of the motor drive control device according to the present invention will be described with reference to FIG.
Here, the speed (controlled body speed) Vc of the controlled body 3 is calculated, and the limit value L0 is calculated by the function L (Vc). Although not shown, the calculated limit is the same as in the first embodiment. Comparison between the value L0 and the difference L is performed.

  Thus, by calculating the limit value as needed according to the controlled body speed (or angular speed when rotating), it is possible to cope with the case where there is a speed at which vibration is likely to occur, The effect of suppressing vibration can be further enhanced.

Next, a fourth embodiment of the motor drive control device according to the present invention will be described with reference to FIG.
Here, when the previous motor output value is M0, the limit value L0 is calculated by the function L (M0), and although not shown, the calculated limit value L0 and the difference L are similar to the first embodiment. A comparison is made.

  In this way, by calculating the limit value as needed according to the previous motor output value, it is possible to cope with the case where vibration is likely to occur at a certain output value, and further enhance the effect of suppressing vibration. Can do.

Next, a fifth embodiment of the motor drive control device according to the present invention will be described with reference to FIG.
Here, the elapsed time t from the start of driving is measured, and the limit value L0 is calculated by the function L (t). Although not shown, the calculated limit value L0 and the difference L are similar to those in the first embodiment. A comparison is made.

  Thus, by calculating the limit value according to the elapsed time t from the start of driving, it is possible to adapt only to a limited time, such as immediately after the start of acceleration, and more effectively vibrate. Can be suppressed.

  Next, an example of the image forming apparatus according to the present invention will be described with reference to FIGS. 10 is an explanatory side view for explaining the overall configuration of the apparatus, FIG. 11 is an explanatory plan view of the main part of the apparatus, and FIG. 12 is an explanatory perspective view of the main part of the apparatus.

  In this image forming apparatus, a carriage 103 is slidably held in a main scanning direction by a guide rod 101 and a guide rail 102 which are horizontally mounted on left and right side plates (not shown), and a timing belt 105 is slid by a main scanning motor 104. 9 to move and scan in the direction indicated by the arrow (main scanning direction) in FIG.

  For example, the carriage 103 includes a plurality of recording heads 107 including four droplet ejection heads that eject ink droplets of each color of yellow (Y), cyan (C), magenta (M), and black (Bk). The ink discharge ports are arranged in a direction crossing the main scanning direction, and are mounted with the ink droplet discharge direction facing downward.

  As a droplet discharge head constituting the recording head 107, a piezoelectric actuator such as a piezoelectric element, a thermal actuator that uses film boiling of a liquid using an electrothermal transducer such as a heating resistor, or a metal phase change due to a temperature change is used. A shape memory alloy actuator, an electrostatic actuator using an electrostatic force, or the like provided as energy generating means for ejecting ink (liquid) can be used.

  The carriage 103 is also equipped with a sub-tank 108 for each color for supplying each color ink to the recording head 107. Ink is supplied to the sub tank 108 from a main tank (ink cartridge) through an ink supply tube (not shown).

  On the other hand, as a paper feeding unit for feeding paper 112 stacked on a paper stacking unit (pressure plate) 111 such as a paper feeding cassette 110, a half-moon roller (separately feeding paper 112 one by one from the paper stacking unit 111) A separation pad 114 made of a material having a large friction coefficient is provided opposite to the sheet feeding roller 113 and the sheet feeding roller 113, and the separation pad 114 is urged toward the sheet feeding roller 113 side.

  As a transport unit for transporting the paper 112 fed from the paper feed unit below the recording head 107, a transport belt 121 for electrostatically attracting and transporting the paper 112, and a paper feed unit A counter roller 122 for transporting the paper 112 fed through the guide 115 while sandwiching it between the transport belt 121 and the paper 112 fed substantially vertically upward is changed by about 90 ° and copied on the transport belt 121. A conveying guide 123 for adjusting the pressure and a tip pressure roller 125 urged toward the conveying belt 121 by a pressing member 124. In addition, a charging roller 126 that is a charging unit for charging the surface of the conveyance belt 121 is provided.

  Here, the conveyance belt 121 is an endless belt, is stretched between the conveyance roller 127 and the tension roller 128, and the conveyance roller 127 is rotated from the sub-scanning motor 131 via the timing belt 132 and the timing roller 133. By doing so, it is configured to circulate in the belt conveyance direction (sub-scanning direction) of FIG. A guide member 129 is disposed on the back side of the conveyance belt 121 in correspondence with the image forming area formed by the recording head 107.

  As shown in FIG. 11, a slit disk 134 is attached to the shaft of the transport roller 127, and a sensor 135 for detecting the slit of the slit disk 134 is provided. An encoder 136 is configured.

  The charging roller 126 is arranged so as to contact the surface layer of the conveyor belt 121 and rotate following the rotation of the conveyor belt 121, and applies 2.5N to both ends of the shaft as a pressing force.

  Further, as shown in FIGS. 10 and 12, an encoder scale 142 having slits is provided on the front side of the carriage 103, and a transmission type photosensor that detects the slits of the encoder scale 142 is provided on the front side of the carriage 103. An encoder 144 for detecting the position of the carriage 103 in the main scanning direction (position relative to the home position) is configured.

  Further, as a paper discharge unit for discharging the paper 112 recorded by the recording head 107, a separation unit for separating the paper 112 from the conveying belt 121, a paper discharge roller 152 and a paper discharge roller 153, and paper discharge A paper discharge tray 154 for stocking the paper 112 to be printed.

  A double-sided paper feeding unit 161 is detachably attached to the back. The double-sided paper feeding unit 161 takes in the paper 112 returned by the reverse rotation of the transport belt 121, reverses it, and feeds it again between the counter roller 22 and the transport belt 121.

  In the image forming apparatus configured as described above, the sheets 112 are separated and fed one by one from the sheet feeding unit, and the sheet 112 fed substantially vertically upward is guided by the guide 115, and includes the conveyance belt 121 and the counter roller 122. The leading end is guided by the conveying guide 123 and pressed against the conveying belt 121 by the leading end pressure roller 125, and the conveying direction is changed by approximately 90 °.

  At this time, a positive voltage output and a negative output are alternately repeated from the high voltage power supply to the charging roller 126 by a control circuit (not shown), that is, an alternating voltage is applied, and a charging voltage pattern in which the conveying belt 121 alternates, that is, In the sub-scanning direction, which is the circumferential direction, plus and minus are alternately charged in a band shape with a predetermined width. When the paper 112 is fed onto the conveyance belt 121 charged alternately with plus and minus, the paper 112 is attracted to the conveyance belt 121 by electrostatic force, and the paper 112 is conveyed in the sub-scanning direction by the circular movement of the conveyance belt 121. Is done.

  Therefore, by driving the recording head 107 according to the image signal while moving the carriage 103, ink droplets are ejected onto the stopped paper 112 to record one line, and after the paper 112 is conveyed by a predetermined amount, Record the next line. Upon receiving a recording end signal or a signal that the trailing edge of the paper 112 has reached the recording area, the recording operation is finished, and the paper 112 is discharged onto the paper discharge tray 154.

  In the case of double-sided printing, when recording on the front surface (surface to be printed first) is completed, the recording belt 112 is fed into the double-sided paper feeding unit 161 by rotating the conveyor belt 121 in the reverse direction. The paper 112 is reversed (with the back surface being the printing surface), and is fed again between the counter roller 122 and the conveyor belt 121. The timing is controlled, and the sheet is conveyed onto the conveyor bell 121 as described above. Then, after recording on the back surface, the paper is discharged onto the paper discharge tray 54.

Next, an outline of the control unit of the image forming apparatus will be described with reference to the block diagram of FIG.
The control unit 200 includes a CPU 201 that controls the entire apparatus, a ROM 202 that stores programs executed by the CPU 201 and other fixed data, a RAM 203 that temporarily stores image data and the like, and a power source for the apparatus. A non-volatile memory (NVRAM) 204 for holding data in between, an image processing for performing various signal processing and rearrangement on image data, and an ASIC 205 for processing input / output signals for controlling the entire apparatus. ing.

  The control unit 200 also includes an I / F 206 for transmitting and receiving data and signals to and from the host side, a head drive control unit 207 and a head driver 208 for driving and controlling the recording head 107, and the main scanning motor 104. A main scanning motor driving unit 210 for driving the sub scanning motor, a sub scanning motor driving unit 211 for driving the sub scanning motor 131, detection pulses from the encoders 136 and 144, and detection signals from various sensors. I / O 212 and the like are provided. The control unit 200 is connected to an operation panel 213 for inputting and displaying information necessary for the apparatus.

  The control unit 200 receives print data or the like from the host side such as an information processing device such as a personal computer, an image reading device such as an image scanner, an imaging device such as a digital camera, and the like via the cable or the network by the I / F 206.

  The CPU 201 reads and analyzes the print data in the reception buffer included in the I / F 206, performs necessary image processing, data rearrangement processing, and the like in the ASIC 205, and transfers the image data to the head drive control unit 2007. To do. The dot pattern data for image output may be generated by storing font data in the ROM 202, for example, or the image data is developed into bitmap data by a host-side printer driver and transferred to this apparatus. You may do it.

  When the head drive control unit 207 receives image data (dot pattern data) corresponding to one row of the recording head 107, the head drive control unit 207 serializes the dot pattern data for one row to the head driver 208 in synchronization with the clock signal. Data is transmitted, and a latch signal is transmitted to the head driver 208 at a predetermined timing.

  The head drive control unit 207 includes a ROM (which can be configured by the ROM 202) storing pattern data of a drive waveform (drive signal), and a D / A converter for D / A converting the drive waveform data read from the ROM. A waveform generation circuit including an A converter and a drive waveform generation circuit including an amplifier and the like are included.

  The head driver 208 also includes a shift register that receives a clock signal from the head drive control unit 207 and serial data that is image data, and a latch circuit that latches the register value of the shift register using a latch signal from the head drive control unit 207. A level conversion circuit (level shifter) that changes the output value of the latch circuit, an analog switch array (switch means) that is controlled to be turned on / off by the level shifter, and the like, and controls on / off of the analog switch array. As a result, a required drive waveform included in the drive waveform is selectively applied to the actuator means of the recording head 107 to drive the head.

  The control unit 200 also serves as a motor drive control device according to the present invention that drives and controls the main scanning motor 104 and the sub-scanning motor 131 using a DC servo motor.

  That is, as described in the embodiment of the motor drive control device, the control unit 200 obtains the carriage speed by counting the detection pulses from the encoder 144, performs sampling at a predetermined sampling timing, and performs the control target value. And calculating the control value based on the deviation from the detected carriage speed, and controlling the difference from the previous motor output value within the limit value when calculating the motor output value from the calculated control value, The main scanning motor drive unit 210 drives the main scanning motor 104 by obtaining the current motor output value.

  Similarly, the control unit 200 obtains the speed of the conveyor belt 121 by counting the detection pulses from the encoder 136, performs sampling at a predetermined sampling timing, and based on the deviation between the control target value and the detected belt speed. The control value is calculated, and when the motor output value is calculated from the calculated control value, the current motor output value is obtained while controlling so that the difference from the previous motor output value is within the limit value. The sub-scanning motor 131 is driven by the scanning motor driving unit 211.

  Accordingly, it is possible to suppress the vibration of the carriage 103 and the conveyor belt 121 and perform the movement positioning to the target position and the feeding of the paper 112 to the target position, thereby enabling a stable movement and improving the image quality.

  Although the case where the image forming apparatus is a serial type has been described here, the present invention can be applied to a drive control device for a paper feed sub-scanning motor in the case of a line type having a line type recording head. Further, the image forming apparatus having a printer configuration has been described. However, the present invention can be applied to an image forming apparatus such as a facsimile or a multi-function machine in which a printer / facsimile / copier is combined. The present invention can be similarly applied to an image forming apparatus using the above liquid.

1 is a block diagram functionally showing a motor drive control device according to the present invention. It is explanatory drawing which shows an example of the speed profile of DC servo motor. It is a flowchart with which it uses for description of 1st Embodiment of the drive control process by a motor drive control apparatus. It is explanatory drawing with which it uses for description of the change at the time of performing the process of the said 1st Embodiment, and a motor output. It is explanatory drawing with which it uses for description of the speed of a comparative example, and the change of a motor output. It is a flowchart with which it uses for description of 2nd Embodiment of the drive control process by a motor drive control apparatus. It is a flowchart with which it uses for description of 3rd Embodiment of the drive control process by a motor drive control apparatus. It is a flowchart with which it uses for description of 4th Embodiment of the drive control process by a motor drive control apparatus. It is a flowchart with which it uses for description of 5th Embodiment of the drive control process by a motor drive control apparatus. 1 is an explanatory side view illustrating an overall configuration of an embodiment of an image forming apparatus according to the present invention. FIG. 2 is an explanatory plan view of a main part of the image forming apparatus. FIG. 2 is a perspective view illustrating a main part of the image forming apparatus. FIG. 2 is a block explanatory diagram illustrating an overview of a control unit of the image forming apparatus.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Motor drive control apparatus 2 ... Motor 3 ... Controlled body 4 ... Speed detector 11 ... Speed profile storage part 12 ... Calculation control part 13 ... Motor output value control part 14 ... Motor driver 103 ... Carriage 104 ... Main scanning motor 107 ... Recording head 112 ... Paper 121 ... Conveying belt 131 ... Sub-scanning motor 136 ... Encoder 144 ... Encoder 200 ... Control unit

Claims (3)

In a motor drive control device for driving a motor by calculating a control value for a motor for driving a controlled body at a predetermined sampling timing, obtaining an output value corresponding to the control value,
Means for controlling a difference or ratio at which the output value to the motor based on the control value changes in a certain time within a predetermined limit value ;
The motor drive control device characterized in that the limit value is set as needed according to the previous output value to the motor. In an image forming apparatus that includes a carriage having a recording head for ejecting liquid droplets, and that scans the carriage in a direction orthogonal to the conveyance direction of the recording medium by a motor, and forms an image on the recording medium by the recording head ,
An image forming apparatus characterized by comprising a motor drive control device according to claim 1 for driving and controlling the motor. The image forming apparatus includes a conveying unit that conveys a recording medium to an image forming region by a recording head that discharges droplets. The recording unit conveys the recording medium by driving the conveying unit with a motor, whereby an image is recorded on the recording medium by the recording head. In an image forming apparatus for forming
An image forming apparatus characterized by comprising a motor drive control device according to claim 1 for driving and controlling the motor.

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