|
Intersheet Spacing Control and Controllability
of a Copier Paperpath
Carlo Cloet, Martin Krucinski, Masayoshi Tomizuka,
Roberto Horowitz and Perry Li
Abstract
This paper presents a control and controllability
approach for a copier paperpath. The paperpath transports
sheets from the feeder unit to the image transfer section. At
arrival time, the position and velocity of every sheet must
synchronize with those of the photoreceptor. The hybrid
character of the system makes classical control approaches
difficult. A control scheme that controls interobject spacings
and satisfies the system constraints is proposed. A controllability
analysis illustrates the influence of system parame
ters on system controllability for simplified system dynamics.
Combined with a good disturbance model, this can lead
to an optimal design strategy. An experimental setup has
been built for disturbance identification and evaluation of
the control scheme.
|
|
