JPH0947057A - Motor control device and recording device using the control device - Google Patents

Abstract

(57) [Abstract] (Correction) [PROBLEMS] When a carrier having a recording head and recording material supply means is driven, if the load fluctuates, the CPU of the control unit is not burdened and the carrier Optimal control of speed. SOLUTION: A carrier capable of mounting a recording head and a recording material supplying means for supplying a recording material consumed according to recording to the recording head, and a driving means for operating the carrier in a direction perpendicular to a conveying direction of a recording medium. A recording device having a speed detecting means for detecting the speed of the carrier and a controlling means for controlling the speed of the carrier based on the detection result, a predetermined target speed and a predetermined control constant. The control mode setting means for setting the control mode, the holding means for holding the detected speed, the comparing means for comparing the value of the detected speed or the value calculated by the value with a predetermined comparison value, and the comparison result of the comparing means. And a selection unit for selecting one control mode from the plurality of control modes set by the control mode setting unit.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motor control device, and more particularly to a motor control device for performing motor control by servo control, and more particularly to a recording device such as a printer or a facsimile using this motor control device.

[0002]

2. Description of the Related Art In a method for controlling a motor or the like, a control method for detecting a control result of the motor, for example, a rotation speed thereof, and controlling the motor or the like in accordance with the detection result of the detecting means is a so-called It is widely known as feedback control. Further, in electronic devices such as recording devices, a motor is used as a drive source of its drive unit.

A conventionally well-known recording apparatus has, for example, a recording head mounted thereon and reciprocates vertically with respect to a conveyance direction of a recording medium (hereinafter referred to as recording sheet) such as paper or OHP sheet. There is a so-called serial type recording device having an operating part (hereinafter referred to as a carrier). In these recording devices, recording heads of various types are used, and as the types thereof, the wire dot type,
A heat-sensitive method, a thermal transfer method, an inkjet method and the like are widely known. In recent years, in these recording apparatuses, there has been an increasing demand for colorization and high resolution, and accordingly, it has become essential to improve the accuracy of the recording apparatuses. Of the recording methods,
For example, the inkjet method has begun to spread widely because it can be achieved with a relatively easy structure and can keep running costs low in response to these requirements.

Further, in recent years, a recording apparatus has been realized in which information input means such as a scanner is mounted on a carrier and information can be read from an information recording medium such as an original.

A motor is used as a drive source of the carrier in the recording apparatus, and the motor is driven in accordance with a recording command to reciprocate the carrier for recording. As the motor, a DC motor or the like that can easily detect the carrier position by using a stepping motor that rotates by an amount corresponding to the number of pulses of the input signal or a combination with an encoder is used. When a stepping motor is used as the motor, a DC motor and an encoder are used to improve the recording accuracy because of instability with respect to the moving speed of the carrier and inaccurate detection of the carrier position. There are many. In this drive system, the moving speed of the carrier to be driven detected by the encoder is detected, the deviation from the target moving speed is calculated, and DC is calculated according to the calculated result.
A control method for feedback controlling the drive of a motor is widely known.

A manipulated variable is calculated based on the following equation from the velocity deviation Ve calculated in this control method and each constant of the proportional control constant Kp, the integral control constant Ki, and the differential control constant Kd, and the DC motor is calculated according to the manipulated variable. The method of performing speed control of is known as PID control.

Operation amount = Kp × Ve + Ki∫Vedt + K
d (dVe / dt) Here, the operation amount is, for example, the voltage applied to the motor or the duty of the applied energy. In such feedback control, there is also known a learning type feedback control which has a predetermined initial value for each control constant in advance and calculates and controls a new control constant while actually moving the carrier.

[0008]

When the carrier is driven by the feedback control using the above-mentioned DC motor and encoder as the motor, for example, when the load of the system to which the drive of the motor is transmitted fluctuates, the carriage is driven. There is a problem in that the moving speed is not optimally controlled and becomes unstable, resulting in inconvenience such as unevenness in the recording result.

Further, if the carrier moving speed is unstable when the information input means is mounted on the carrier, the input information becomes inaccurate and, as a result, unevenness occurs. There is.

Factors that cause the load to fluctuate are variations in the precision of the components that form the transmission system, changes in the weight of the recording head mounted on the carrier, and the recording head that is integral with the recording material accommodating means for accommodating recording material such as ink. In the case of the above construction or in the case where the carrier is mounted with the recording material together with the recording head, the weight change due to the consumption of the recording material and the environmental condition in which the apparatus is used may be changed. Particularly, in order to improve the user's satisfaction such as keeping running costs low and reducing the frequency of exchanging the recording material accommodating means, a large amount of the recording material is accommodated. The change in load due to is not negligible.

As a method for solving this problem, Japanese Patent Application Laid-Open No.
No. 284768 proposes learning feedback control. According to this method, the optimum feedback control can be performed by learning even if the load fluctuates, but since the control is performed while calculating the control constant, the load on the CPU that controls the recording apparatus is increased, and There are problems such as the need for a microcomputer.

[0012]

In order to solve the above-mentioned problems, the present invention provides a speed detecting means for detecting the speed of a controlled object, a speed detected by the speed detecting means, a predetermined target speed and a predetermined speed. In a motor control device that controls the speed of a controlled object based on a control constant, a control mode setting unit that sets a plurality of control modes having different control constants, and a holding unit that holds the detected speed detected by the speed detecting unit. Comparing means for comparing a value of the detected speed held by the holding means or a value calculated by the value with a predetermined comparison value, and the plurality of units set by the control mode setting means according to the comparison result of the comparing means. Selecting means for selecting one control mode from the control modes, and speed control of the controlled object is performed according to the selection result of the selecting means. It is to employ a motor control device for.

The present invention also provides a carrier on which a recording head for recording on a recording medium and a recording material supply means for supplying recording material consumed according to recording to the recording head can be mounted, and the carrier is Driving means for operating in a direction perpendicular to the conveying direction of the recording medium, speed detecting means for detecting the speed of the carrier, and a carrier for the carrier based on the detection result by the speed detecting means, a predetermined target speed and a predetermined control constant. In a recording apparatus having control means for controlling speed, control mode setting means for setting a plurality of control modes having different control constants, holding means for holding the detected speed detected by the speed detecting means, and the holding means Comparing means for comparing the value of the detected speed held by or the value calculated by the value with a predetermined comparison value, and the control mode according to the comparison result of the comparing means. A recording means for selecting one control mode from the plurality of control modes set by the setting means, and performing speed control of the controlled object according to a selection result of the selecting means. Is adopted.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of a motor control device of the present invention and a recording device using the motor control device will be described below with reference to the drawings.

(Embodiment 1) FIG. 1 is a circuit block diagram of a motor control device of embodiment 1 for explaining an example in which the speed of movement and rotation of a controlled object is controlled by a motor. In FIG. 1, reference numeral 1 is a means for calculating the control amount of the feedback control, and in the case of this embodiment, it is a PID control means for calculating the control amount by the above-mentioned PID control. Reference numeral 2 denotes a motor driver control unit that calculates an input value to a motor driver 3 that drives the motor 4 from the calculation result of the PID control unit. The motor driver 3 drives the motor 4 according to the output of the motor driver control unit 2. Then, the controlled object 5 is driven. Here, in this embodiment, the control amount calculated by the PID control means 1 is the voltage applied to the motor and the duty of the applied energy.

Reference numeral 6 is a speed detecting means such as an encoder (which can detect a position and a speed). Reference numeral 7 is a result holding unit configured by a RAM or the like for holding the detection result of the detection unit 6. The detection result held by the holding means relates to the detection result in the period from the start of driving of the controlled object until the target speed is reached, that is, the acceleration period.

Next, the operation of the motor control device according to the first embodiment will be described with reference to FIG. When the drive command for the motor or the controlled object is input, the PID control means 1 differs from the deviation Ve (deviation between the target speed V and the detected speed v) calculated by the deviation calculation means 10 as shown in FIG. A control amount is calculated based on a control mode constituted by a preset predetermined control constant among a plurality of control modes constituted by a set of control constants Kp, Ki, Kd, for example, control mode c (step S101, step S102).

The mode driver control means 2, the motor driver 3, the motor 4, and the controlled object 5 are driven according to the calculated amount (step S103). The speed that is the control result obtained by driving the controlled object 5 is detected by the speed detecting means 6 such as an encoder (step S104), and the detection result is held by the detection result holding means 7 such as RAM (step S105). The acceleration of the controlled object calculated from the detection result (speed v in this embodiment) held in the holding means 7 is compared with a comparison value described later by the comparison means 8 (step S106).

In the case of this embodiment, the comparison value is a limit value within the allowable range required for the controlled object and is the maximum acceleration Amax and the minimum acceleration Amin within the allowable range. In step S106, if the acceleration based on the detected speed v is within the allowable range, the control mode is not changed and the process ends (step S109). If it is determined in step S106 that it is outside the allowable range, a control mode other than the control mode currently set is selected in step S108. Here, for example, the control mode a shown in FIG. 2 is selected.

Here, even if a new control mode is selected, it is not immediately reflected in the PID control means, and the update is awaited until the operation of a series of controlled objects is completed (step S10).
7). The control in the selected control mode is not performed while waiting, and the control is performed in the currently set control mode, and is updated after the series of operations is completed. When the control mode is updated, the device shifts to the initial operation and similarly compares the control results according to the control mode. If it is determined that the control result is out of the allowable range, the control mode is immediately updated because a different control mode, which will be described later, is selected and the initial operation is performed, and the control results are similarly compared. In the control mode selection in step S107 after shifting to the initial operation, a control mode different from the control mode set after shifting to the initial operation is selected.

Here, the series of operations of the above-mentioned apparatus are
For example, the recording operation is performed when the apparatus is a recording apparatus, and the information reading operation is performed when the apparatus is a scanner apparatus. FIG.
The operation shown in (1) is constantly executed during the operation of the device. In this way, even if the control result of the control mode is outside the allowable range as a result of disturbance such as load fluctuation, it is updated to another optimal control mode and the control result is allowed. Convergence within the range is achieved.

In this case, the acceleration is calculated from the speed v of the controlled object. However, the speed v may be used. When the speed is used, the upper and lower limits of the allowable reaching speed during acceleration are set. Compare with. The speed v of the controlled object for a predetermined period after the end of acceleration is detected and held, and the speed v and the maximum speed Vmax and the minimum speed Vm within the allowable range of the controlled object.
The configuration may be compared with in.

(Embodiment 2) In Embodiment 1, the control results of the set control mode are constantly compared during the operation of the apparatus, but it is considered that there is little disturbance such as load fluctuation applied to the control system. In this case, the comparison of the control results of the control modes may be executed as needed.

A circuit block diagram of the motor control device in this case is shown in FIG. Also in FIG. 4, the case where the speed of the controlled object is controlled by the motor as in the first embodiment will be described. Reference numerals 1 to 10 have the same configurations as those described in the first embodiment. Here, 11 is an instruction means for instructing at a predetermined timing to perform comparison between the detection result of the speed v which is the control result by the detection means 6 and the above-mentioned limit value within the allowable range. When the comparison is not instructed, the processing indicated by the solid line is performed, and when the comparison is instructed, the processing indicated by the dotted line is added.

Here, as the predetermined timing for giving an instruction by the instructing means 11, for example, the control target is the carriage of the recording apparatus, and the recording material supply means such as the recording head and the ink tank is replaceable on the carriage. When the amount of recording material consumed reaches a predetermined value, when a new recording head or recording material supply means is attached to the carriage, or when a predetermined time has elapsed since the previous comparison operation Etc.

The flow of processing in FIG. 4 is shown in FIG.
The processing shown in FIG. 5 is a processing routine performed when a predetermined timing for comparison occurs, and when the processing shifts to this processing, the comparison processing is executed in step S501, and it is first determined. Here, for example, when the printing operation of the printing apparatus is being performed, the comparison processing is not executed and this processing routine is finished as it is. If the comparison operation is allowed to be executed, the motor is driven from step S502 to step S504. Here, assuming that the control mode c of FIG. 2 is initially set as the control mode, the speed that is the control result of the control target obtained by driving the motor is detected (step S505), and this is immediately held by the holding means. A RAM
(Step S506). The acceleration calculated from the velocity v of the held control target is compared with the above-mentioned comparison value by the comparison means 8 (step S507). If the comparison result is within the allowable range, the control mode is terminated without updating. .

If it is determined in step S507 that the comparison result is outside the allowable range, the process proceeds to step S508.
Similar to the first embodiment, a control mode a different from the currently set control mode is selected. When a new control mode a is selected, the motor is immediately driven based on the control mode a (steps S502, S503, S504), and then the comparison processing is performed again for the speed v which is the control result by the control mode a in step S507. Done in. here,
If the control result in the newly updated control mode a is within the allowable range, the series of comparison processing is ended. If it is determined in step S507 that the control result is out of the allowable range even though the control mode has been updated, the new control mode b is selected again. The control mode newly selected here is configured to select a control mode different from the control mode selected and set after shifting to the processing shown in FIG. In this way, as a result of the disturbance being added to the system such as load fluctuation by instructing the processing of comparing the control results of the control modes by the instructing means that instruct at a predetermined timing,
Even when the control result is out of the allowable range, another optimum control mode is updated, and the control result is converged within the allowable range.

(Embodiment 3) In Embodiment 2 shown in FIG.
The comparison of the control results is executed based on the allowable range inner limit value as in step S507, but there is a method other than this. The operation flow based on this different method is shown in FIG. In the processing method of the second embodiment shown in FIG. 5, a new control mode is selected according to the result of comparison with the limit value within the allowable range, but in the third embodiment shown in FIG. Are sequentially selected, and the control result according to the selected control mode is held in the RAM (step S60).
6) The optimum control mode is selected by comparing the control results of each control mode. Here, to compare the detection results, for example, the absolute value of the difference between the maximum value and the minimum value of the speed v after the end of acceleration in a predetermined control mode and the maximum value and the minimum value of the speed v in another control mode are used. A method of selecting the control mode in which the variation in the speed v is the smallest after the end of acceleration can be considered by comparing the absolute value of the difference between and. Even with such a configuration, the optimum control mode is selected and a stable control result can be obtained.

(Embodiment 4) A case will be described in which the motor control device described in the above embodiments is applied to drive a carriage of an ink jet recording apparatus which is a recording apparatus.

FIG. 7 is a schematic sectional view of the recording apparatus. In FIG. 7, reference numeral 20 denotes an automatic feeding unit that holds the recording sheets S, which are recording media, in a state of being accumulated and automatically feeds the recording sheets S one by one to the recording position, and 30 denotes the automatic feeding unit 20. The recording sheets S sent out one by one from the separating roller 204 are guided to a desired recording position, and the recording sheets S already recorded are recorded.
And a recording head 5 for guiding the paper to the discharge unit 40.
01 (in this embodiment, color recordable yellow,
Ejecting magenta, cyan, and black inks), a carriage 502 carrying a recording head 501,
The guide shafts 503 and 504 for guiding the carriage in the direction perpendicular to the paper surface in FIG. 7 by the timing belt 506, the ink tank 505 of the recording material supply means for supplying the recording head 501 with the inks of the recording materials of the respective colors, and the carriage 5.
No. 02 position detecting film is formed with slits at predetermined intervals on the encoder 507 and the carriage 502
A carrier motor for moving and scanning (in this embodiment,
A DC motor) 509 or the like is a recording unit, and 60 is disposed above the recording unit 50 and controls the entire recording apparatus based on recording data and information sent from a host computer (not shown) or the like (control unit). -Part). The control section 60 is covered with an inner cover 601. Inside the inner cover 601, a control board 602 and a panel board 603 are housed.

Next, other main parts constituting the recording apparatus will be described. The automatic feeding unit 20 has one end supported by a paper receiver 201 composed of two retractable receiving plates and a sliding shaft 202A, and the other end abutted toward the separation roller 204 by a spring force of a pressure contact spring 203. Of the sheet bundle 205 set on the sheet receiver 201 by a separation roller 204 that is interlocked with a feeding roller 301 via a gear train (not shown) or a drive switching means (not shown). Are sent one by one. Further, the transport unit 30 includes a feed roller 301, a pinch roller 302, and a feed roller 301 for guiding the paper S sent from the automatic feed unit 20 by the separation roller 204 to a position facing the ink ejection surface of the recording head 501. It is composed of a transmission roller 304 that is interlocked and transmits a driving force to the discharge roller 303, a spur 405 supported via a coil spring (not shown), and the like. Furthermore,
The discharge unit 40 is configured by two trays 401 and 402 that can expand and contract according to the length of the paper S to be discharged. 40
3 is a stopper provided at the tip of the tray 401,
The ejected paper S is configured not to drop. Reference numeral 70 denotes a power supply unit housed and fixed in the lower case 71, and 72 denotes a discharged ink tank that stores ink discharged from the recording head 501 for a recovery operation.

FIG. 8 is a circuit block diagram showing the control structure of the ink jet recording apparatus of this embodiment. In FIG. 8, reference numeral 801 denotes an MPU that controls the entire recording apparatus, and includes a timer 802 that performs time management on control. Further, the MPU 801 drives the motor 4 (the carrier motor 509 in this embodiment) according to the PID control means 1 for performing the feedback control shown in the previous embodiment and the control amount calculated by the PID control means 1. Motor driver 3 (carrier motor driver 8 in this embodiment)
07) for controlling the motor driver, a comparing means 8 for comparing the control results, and a selecting means 9 for selecting the control mode according to the comparison result of the comparing means. Reference numeral 803 denotes a ROM that stores a control program for the MPU, and information about control constants that determine the control mode shown in FIG. 2 is also stored in the ROM. 804 is MPU801
Is a RAM that stores information such as the control execution work area, the encoder 507, and the speed v of the carrier 502 by the encoder sensor unit 8.

Reference numeral 805 denotes an EEPROM capable of retaining information even when the power of the recording apparatus is turned off. In this embodiment, it retains control constants of the currently set control mode. Reference numeral 806 denotes an ejection heater driver that drives an ejection heater that ejects ink from the recording head according to desired recording information and the like. Reference numeral 807 denotes a carrier motor 509 that drives the carrier 502 via a timing belt 506, a pulley (not shown), or the like. Is a carrier motor driver for driving the. Reference numeral 808 denotes the conveyance roller 301 and the separation roller 2
A transport motor driver that drives and controls a transport motor 809 that drives 04. Reference numeral 810 denotes a sensor for detecting the presence / absence of the paper S in the transport unit 30 and the front and rear edges of the paper S. Reference numeral 811 denotes a recovery system motor driver for driving a recovery system (not shown) for returning the recording head to a state suitable for recording or maintaining the state suitable for recording. Reference numeral 813 is a sensor for detecting the operating position of a cam or the like (not shown) that constitutes the recovery system. An interface 814 connects the printing apparatus to a host computer or the like, and the printing apparatus is configured to exchange information of the host computer or the like via this interface section.

Next, the control operation of the carrier motor 509 in the recording apparatus of this embodiment will be described with reference to FIG. When a drive command for the carrier motor 509 is input by a recording operation start command from the host computer or the like,
The PID control means is composed of the speed deviation calculation means 10 and a predetermined control constant preset among a plurality of control modes composed of different sets of control constants Kp, Ki and Kd as shown in FIG. A control amount is calculated based on the control mode, for example, the control mode c (steps S101 and S102), and the motor driver control unit 2, the carrier motor driver 807 which is the motor driver 3, and the motor 4 are calculated according to the calculated amount. The carrier motor 509 and the carrier 502 which is the controlled object 5 are driven (step S
103).

The speed v, which is the control result obtained by driving the carrier 502, is detected by the speed detecting means 6 composed of the encoder 507 and the encoder sensor 508 (step S104), and the detection result is the RAM 80.
It is held in the detection result holding means 7 of No. 4 (step S10).
5). Here, the detection by the speed detecting means is performed by the encoder 5
Encoder sensor unit 508 provided on the carriage 502 with slits formed on the 07 at predetermined intervals by printing or the like.
The velocity v of the carrier 502 is detected from the time to move the predetermined slit distance and the predetermined slit distance.
Is calculated.

The encoder of the recording apparatus of this embodiment has 36 encoders.
It is configured over a length of 300 mm at 0 dpi (0.07056 mm) intervals. Here, the acceleration of the carrier in this embodiment is a uniform acceleration motion, and the acceleration distance is 15 mm.
And the target arrival speed is 431.8 mm /
sec. In the case of this embodiment, the average acceleration is calculated from the velocity v held in the holding means 7 and the time of passing through the acceleration region, and the calculated acceleration a is compared with the comparison value described later by the comparing means 8 (step S106). . In this embodiment, the target speed is 431.8 mm / sec. This is a carrier speed corresponding to a recording head response frequency of 6.12 KHz and a recording density of 360 dpi.

In the case of this embodiment, as in the case of the first embodiment, the comparison value is the maximum value Amax and the minimum speed Amin within the allowable range, which is the limit value within the allowable range required by the apparatus. , Amax is set to + 5% of the acceleration calculated from the acceleration and the target speed, and Amin is similarly set to -5%. In step 106, if the acceleration calculated from the detection result speed v is within the allowable range, the control mode is not changed and the process ends. In step S106, if the ink in the ink tank 505 that supplies the ink to the print head mounted on the carrier 502 is consumed and it is determined that the weight of the carrier is significantly changed and the like is outside the allowable range, step S108. A control mode other than the control mode currently set in is selected.

Here, for example, the control mode a shown in FIG. 2 is selected. Here, even if a new control mode is selected, it is not immediately reflected in the PID control means and the update is awaited until a series of recording operations is completed (step S107).
While waiting, the control in the selected control mode is not performed, the control is performed in the currently set control mode, and is updated after completing the series of operations. When the control mode is updated, the printing apparatus shifts to the initial operation and similarly compares the control results according to the control mode. If it is again determined that the control result is out of the allowable range, a different control mode, which will be described later, is selected again, and since it is the initial operation, the control mode is immediately updated and the control results are similarly compared. After shifting to the initial operation, a control mode different from the set control mode is selected, and finally the control mode that converges within the allowable range is selected and updated. In this way, the information about the control mode updated is held in the EEPROM 805. In this way, even if the control result of the control mode is outside the permissible range as a result of disturbance added to the load fluctuation system, etc., it is updated to another optimum control mode with a simple configuration, and the control result Convergence within an acceptable range is achieved. Further, since the control mode is updated after the series of recording operations is completed, deterioration of the recording result due to the change of the control mode within one page is not seen.

(Fifth Embodiment) Further, the present invention can be preferably applied to the case where the recording apparatus is configured such that the recording head 501 and the ink tank 505 are removed from the carrier 502 and the carrier can be equipped with information input means such as a scanner. Further, in this case, a replacement detection means (not shown) for detecting the replacement of the recording head 501, the ink tank 505, the scanner, etc. is provided, and the scanner, the recording head, the ink tank are used by using the control method according to the second embodiment. It is also possible to give an instruction to compare the control results according to the control modes when the items such as the above are exchanged.

[0040]

As described above, stable control can be performed even when a disturbance such as a load change that causes an unstable control result is applied to the control system.

[Brief description of drawings]

FIG. 1 is a circuit block diagram of a motor control device according to a first embodiment of the present invention.

FIG. 2 is a diagram for explaining a control mode of each embodiment of the present invention.

FIG. 3 is a flowchart of the operation of the motor control device according to the first embodiment of the present invention.

FIG. 4 is a circuit block diagram of a motor control device according to a second embodiment of the present invention.

FIG. 5 is a flowchart of the operation of the motor control device according to the second embodiment of the present invention.

FIG. 6 is a flowchart of the operation of the motor control device according to the third embodiment of the present invention.

FIG. 7 is a schematic cross-sectional view of a recording device to which the motor control device of the present invention is applied.

FIG. 8 is a circuit block diagram of the recording apparatus.

[Explanation of symbols]

 1 PID control means 2 Motor driver control means 3 Motor driver 4 Motor 5 Control object 6 Speed detection means 7 Detection result holding means 8 Detection result comparison means 9 Control mode selection means 10 Deviation calculation means 11 Comparison instruction means 20 Automatic feeding section 30 Conveyance unit 40 Ejection unit 50 Recording unit 501 Recording head 502 Carrier 507 Encoder 508 Encoder sensor unit 509 Carrier motor

Claims (16)

[Claims] 1. A speed detecting means for detecting a speed of a controlled object, and a motor control device for controlling the speed of the controlled object based on a speed detected by the speed detecting means, a predetermined target speed and a predetermined control constant, Control mode setting means for setting a plurality of control modes having different control constants, holding means for holding the detected speed detected by the speed detecting means, and a value of the detected speed held by the holding means or calculated by the value A comparison unit that compares the calculated value with a predetermined comparison value; and a selection unit that selects one control mode from the plurality of control modes set by the control mode setting unit according to the comparison result of the comparison unit. A motor control device, wherein speed control of the controlled object is performed according to a selection result of the selection means. 2. A speed detecting means for detecting a speed of a controlled object, and a motor control device for controlling the speed of the controlled object based on a speed detected by the speed detecting means, a predetermined target speed and a predetermined control constant, Control mode setting means for setting a plurality of control modes having different control constants, holding means for holding the detected speed detected by the speed detecting means, and a value of the detected speed held by the holding means or calculated by the value Comparing means for comparing the determined value with a predetermined comparison value, instructing means for instructing comparison by the comparing means, and one of the plurality of control modes set by the control mode setting means according to the comparison result of the comparing means. And a selection means for selecting one of the control modes, and only when there is an instruction for comparison by the instruction means, the comparison by the comparison means is performed, Further, the motor control device is characterized in that the speed control of the controlled object is performed according to the selection result of the selecting means regardless of the presence or absence of the instruction by the instructing means. 3. The motor control device according to claim 1, wherein the value calculated by the comparison means from the value of the detected speed held by the holding means is the speed or acceleration of the controlled object. Motor control device. 4. The motor control device according to claim 3, wherein the detected speed held by the holding means is a speed detected within a predetermined period after the control target is moved to a constant speed control region. Motor control device. 5. The motor control device according to claim 3, wherein the detected speed held by the holding means is a speed detected within a predetermined period from the start of acceleration of the controlled object to the transition to a constant speed control region. A motor control device characterized by: 6. A speed detecting means for detecting a speed of a controlled object, and a motor control device for controlling the speed of the controlled object based on a speed detected by the speed detecting means, a predetermined target speed and a predetermined control constant, Control mode setting means for setting a plurality of control modes consisting of different control constants, control mode sequential selection means for sequentially selecting the plurality of control modes, and each speed in each control mode selected by the control mode sequential selection means Holding means for holding each of the detection speeds detected by the detecting means, and optimum control mode selecting means for selecting an optimum control mode from each value of the detection speeds held by the holding means, A motor control device, wherein speed control of the controlled object is performed in a control mode selected by a mode selection means. 7. A carrier on which a recording head for recording on a recording medium and a recording material supply means for supplying recording material consumed according to recording to the recording head can be mounted, and the carrier for conveying the recording medium. Driving means for operating in a direction perpendicular to the direction, speed detecting means for detecting the speed of the carrier, and controlling the speed of the carrier based on the detection result of the speed detecting means, a predetermined target speed and a predetermined control constant. In a recording apparatus having a control means, a control mode setting means for setting a plurality of control modes having different control constants, a holding means for holding the detected speed detected by the speed detecting means, and a holding means held by the holding means Comparing means for comparing the value of the detected speed or the value calculated by the value with a predetermined comparison value; and the control mode setting means according to the comparison result of the comparing means. And selection means for selecting one control mode from the set of the plurality of control modes Te, the recording apparatus characterized by controlling the speed of said controlled object in accordance with a selection result of said selection means. 8. A carrier on which a recording head for recording on a recording medium and recording material supply means for supplying recording material consumed according to recording to the recording head can be mounted, and a carrier for conveying the recording medium. Driving means for operating in a direction perpendicular to the direction, speed detecting means for detecting the speed of the carrier, and controlling the speed of the carrier based on the detection result of the speed detecting means, a predetermined target speed and a predetermined control constant. In a recording apparatus having a control means, a control mode setting means for setting a plurality of control modes having different control constants, a holding means for holding the detected speed detected by the speed detecting means, and a holding means held by the holding means Comparison means for comparing the value of the detected speed or a value calculated by the value with a predetermined comparison value; instruction means for instructing comparison by the comparison means; Selection means for selecting one control mode from the plurality of control modes set by the control mode setting means according to the comparison result, and the comparison by the comparison means is performed only when there is an instruction for comparison by the instruction means. The recording apparatus is characterized in that the speed control of the controlled object is performed according to the selection result of the selection unit regardless of whether or not the instruction is given by the instruction unit. 9. The recording apparatus according to claim 7, wherein the value calculated by the comparing means from the value of the detected speed held by the holding means is the speed or acceleration of the controlled object. Recording device. 10. The recording apparatus according to claim 9, wherein the detected speed held by the holding means is a speed detected within a predetermined period after the control target is moved to a constant speed control area. Recording device. 11. The recording apparatus according to claim 9, wherein the detected speed held by the holding means is a speed detected within a predetermined period from the start of acceleration of the controlled object to the transition to a constant speed control region. Characteristic recording device. 12. The recording apparatus according to claim 7, wherein the comparison by the comparison unit is performed during a recording operation of the recording apparatus. 13. The recording apparatus according to claim 7, wherein when the selection unit selects a new control mode, the control mode is updated after a series of recording operations is completed. . 14. The recording apparatus according to claim 7, wherein the detection result held by the holding means is a detection result corresponding to each of the plurality of control modes. 15. The recording apparatus according to claim 8, wherein the recording head and the recording material supply means are mounted on the carrier in a replaceable manner, and further have mountable information input means, the recording head and the recording means. A recording apparatus comprising: a mounting detecting means for detecting replacement of the material supplying means or the information inputting means, and the instructing means instructing comparison in accordance with a detection result of the mounting detecting means. 16. A carrier on which a recording head for recording on a recording medium and a recording material supply means for supplying recording material consumed in accordance with recording to the recording head can be mounted, and the carrier conveys the recording medium. Drive means for operating in a direction perpendicular to the direction, speed detecting means for detecting the speed of the carrier,
In a recording apparatus having a control means for controlling the speed of the carrier based on a detection result of the speed detecting means, a predetermined target speed and a predetermined control constant, a control mode for setting a plurality of control modes having different control constants. Setting means, control mode sequential selection means for sequentially selecting the plurality of control modes, and holding means for holding each of the detected speeds detected by the speed detection means in each control mode selected by the control mode sequential selection means And an optimum control mode selecting means for selecting an optimum control mode from each value of the detected speeds held by the holding means, and the speed of the controlled object in the control mode selected by the optimum control mode selecting means. A recording device characterized by performing control.