JPS6080718A - Depressor bar type recorder - Google Patents

Abstract

PURPOSE:To prevent accumulated deviation of a feed rate by calculating the feed rate corresponding to the depressor bar recording interval and the pass time of hole end from the number of stepwise feed of a chart feed mechanism, performing PI control with said time and the time from the start and calculating correction. CONSTITUTION:The number xi of the stepwise feed of a feed mechanism 2 is counted by a counting means 4 from the signal of a sensor 3 detecting the holes 11 of an equal interval of a chart 1 which is stepwise fed by the mechanism 2. The feed rate wi corresponding to the interval of depressor bar recording and the passage time Tj of the end each hole 11 are calculated respectively by arithmetic means 5, 6 from said number xi. The time tj obtd. from the clock 71 which starts simultaneously with the starting of a chart 1 and the time Tj are collated and PI control 72 is so performed in a control part 7 that the deviation is made zero. The output alpha is calculated with the result of the means 5 and is thus corrected by an arithmetic means 8 for correction. The mechanism 2 is driven S3 by a chart feed control part 9.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to chart feed control in a dot recorder in which the chart feed is friction driven using rollers.

[Prior art]

Conventionally, the chart in a recorder was driven by a sprocket, so the accuracy of the chart feed amount was determined by the rotational speed of the sprocket and the pitch of the chart's sprocket holes. The accuracy of the feed amount was ensured.

However, for example, in order to obtain a new function such as automatic chart loading using friction drive, a method is adopted in which the chart is driven by 7 riction using a rubber roller, etc., instead of using 1 sprocket. Even if it is rotated, the amount of chart feeding is determined by the accuracy of the diameter of the rubber row 2-. The accuracy of the rubber roller diameter cannot be made high, it varies widely, and it also changes over time, so over a long period of time, small deviations in the chart feeding amount will accumulate and become large deviations. .

Therefore, for example, when printing is performed at a fixed time at a chart speed of 20-A, the printing position will gradually deviate from the correct position.

The present invention solves this problem.

[Purpose of the invention]

An object of the present invention is to detect holes provided at equal intervals on a chart using a sensor, thereby controlling the chart feeding amount and preventing the chart feeding amount from accumulating and shifting. To provide a point recorder.

[Structure of the invention]

In order to achieve this purpose, a dot is provided with a chart having holes provided at equal intervals in the feeding direction on at least one end side, and a chart feeding mechanism including a roller that feeds the chart in a stepwise manner. In the recorder, a sensor is provided in the chart feeding mechanism facing the hole and outputs an electric signal corresponding to the presence or absence of the hole; a counting means for counting the number of step feeds of the step mechanism; a feed amount calculation means for calculating a feed amount corresponding to the multi-dot recording interval based on the number of steps; a control unit that performs KPI control so that the calculated time matches the time based on the clock starting at the same time as the start of the chart and the deviation becomes zero; a correction calculation means for correcting the output of the control unit based on the calculation result of the feeding amount calculation unit; and a chart feeding control unit for driving the chart feeding mechanism by a specified number of steps based on the output of the correction calculation unit. This constitutes a dot recorder characterized by comprising:

Examples of the present invention will be described below.

〔Example〕

FIG. 1 is an explanatory diagram of the configuration of an embodiment of the present invention.

In the figure, 1 is a chart provided with holes 11 provided at equal intervals in the feeding direction on one end side. Reference numeral 2 denotes a chart feeding mechanism (not shown) having a roller 21 (not shown) that feeds the chart 1 in a step-like manner.

3 is provided in the chart feeding mechanism 2 facing the hole 11,
The sensor outputs an on/off electrical signal S corresponding to the presence or absence of the hole 11, and in this case, a reflective photo-interrupter is used. 4 is the step feed number X1 of the chart feed mechanism 2 between each hole end based on the output signal of the sensor 5.
It is a counting means for counting. Specifically, it is incremented each time the chart is advanced one step, and cleared each time the sensor 3 detects the end of the hole 11. Reference numeral 5 denotes a feed amount calculation means for calculating a feed amount W corresponding to the multi-dot recording interval based on the number of steps Xi. Reference numeral 6 denotes a time calculating means for calculating the passing time Tj of each end of the hole 11 based on the step feed number X. 7 is the time Tj calculated by the time calculation means 6 and the start of the chart 1 (signal S
2 is a control unit that performs PI control 72 so that the time tj based on the black line 71 that starts at the same time as the start of the chart 1 is matched with the deviation 71 so that the deviation becomes zero. Reference numeral 8 denotes a correction calculating means for correcting the output α of the control section 7 to the calculation result of the feed amount calculating means 5. Reference numeral 9 denotes a chart feeding control section which drives the chart feeding mechanism 2 by the number of steps specified by the output of the correction calculation means 8.

In the above configuration, the chart 1 is fed one step at a time (the minimum resolution of the feed amount), and each time it is checked whether the end of the hole 11 has passed according to the signal from the sensor 3. The distance between the ends of each hole 11 can be measured in units of the number of chart feeding steps. This number of feeds is
Let it be i. This number of feeds is counted by the counting means 4. The feed number X is the feed amount W per time to obtain the dot recording interval Wm'y, which is updated every time the end of the hole 11 is passed.

(step, number of steps) is expressed by the following equation, which is calculated by the feed amount calculation means 5.

W=WX"i (step, pu) i"r
to be added next time. ), it is possible to accurately determine the feed amount.

However, an error occurs because the sending amount X itself has an error of one step or less, it varies, and there is a limit to the number of bits that can be calculated to the nearest decimal point.

Therefore, if the chart 1 is traveled for a long time, the individual differences in the feed amount will accumulate and become large.

Therefore, the feed amount W1 is controlled by adding a coefficient α of (1-α) to W so that the J% product error becomes zero using the feedback IC.

Now, consider the case where chart feeding starts from the position of sensor 5 at time '1'' = o.If the set value of chart speed is Ymm/s, then the set value of passing time between holes 11 is X / Y (s ＠a）I can't believe it.
Starting from T=0, the passing time at the end of each hole 11 is
As shown in FIG. 2, Kaisei T1. T2. T5...T
It can be stopped. This transit time T is calculated by the time operator stage 6 according to the following equation.

Real-time hole 1 of Kuro-ri 71, which started with the number of steps T = 0.
1 end passing time value tlT t2+ ts...tj
Then, the PI sub-control is performed so that the deviation of Tj-tj becomes 0, and the correction coefficient α is added to the correction calculation means 8. The correction calculation means 8 performs the calculation FiW, (+-α). The chart feeding control unit 9 drives the chart feeding mechanism 2 by the number of steps specified by the correction calculating means 8 using the signal S3.

Note that since there are variations in the value of the step feed number xi, it is actually filtered, averaged, processed, and used.

As a result of the above, even when chart feeding is performed by friction drive, errors in the feeding amount are accumulated and deviations often occur.

Therefore, the correct chart position and Recorded in! Time stamps can be printed.

Furthermore, even if the chart expands or contracts due to humidity or the like, the chart feeding amount is automatically corrected and the chart is fed at the correct feeding amount.

In addition, in the above-mentioned embodiment, an optical detection sensor was used as a sensor for detecting the hole 11 in the chart, but the sensor is not limited to this, and for example, a sensor using an electric contact may be used. hole 1
Any device that can detect 1 is sufficient.

Also, counting means 4. It goes without saying that the feed amount calculation means 51, the time calculation means 6, the control section 7, and the correction calculation means 8 may be constructed by a microprocessor (JP).

[Action and effect of the invention]

As explained above, in the present invention, a sensor is disposed facing a hole provided in a chart, and the number of steps taken by the chart feeding mechanism between the large ends is counted, and the standard of one feeding amount is determined based on the set parameters. Calculate the value. On the other hand, when chart feeding starts, the passing time of each large end is calculated from the set parameters. This is compared with the time when the hole passes by a clock that starts at the same time as the start of the chart, and the feed amount is corrected by the PI sub-control so that the deviation becomes zero.

As a result, it is possible to realize a dot recorder in which the amount of chart feeding is accumulated and shifted.

[Brief explanation of drawings]

FIG. 1 is an explanatory diagram of the configuration of one embodiment of the present invention, and FIG.
It is an explanatory diagram of the operation of the figure. DESCRIPTION OF SYMBOLS 1... Chart, 11... Hole, 2... Chart feeding mechanism, 21... Roller, 3... Sensor, 4...
- Counting means, 5... Feed amount calculation means, 6... Time calculation means, 7... Control section, 71... Black, ri, 7
2...PI sub-control 8...Correction calculation means, ? ...Chart feed control section.

Claims (1)

[Scope of Claims] A dot recorder comprising a chart having holes provided at equal intervals in the feeding direction on at least one end side, and a chart feeding mechanism including a roller that feeds the chart in a stepwise manner. , a sensor provided on the chart feeding mechanism facing the hole and outputting an electric signal corresponding to the presence or absence of the hole; and a step of the chart feeding mechanism between the ends of each hole based on the output signal of the nuclear sensor. , a counting means for counting the number of transfers;
a feed amount calculation means for calculating a feed amount corresponding to the dot recording interval based on the number of steps; a time calculation means for calculating the passing time of each large end based on the number of steps; and the calculated time. and a control unit that performs KPI control so that the deviation is zero by matching the time based on the black rate that starts at the same time as the start of the chart, and a control unit that performs a correction calculation on the output of the control unit based on the calculation result of the feed amount calculation means. and a chart feed control section that controls the chart feed by the number of steps determined by the output of the correction calculation means.
r! n total.