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Research Papers

Convergence Analysis of a Steerable Nip Mechanism for Full Sheet Control in Printing Devices

[+] Author and Article Information
Edgar Ergueta

Department of Mechanical Engineering, University of California, Berkeley, CA 94720edgar.ergueta@wdc.com

Rene Sanchez

Department of Mechanical Engineering, University of California, Berkeley, CA 94720r2sanchez@gmail.com

Roberto Horowitz

Department of Mechanical Engineering, University of California, Berkeley, CA 94720horowitz@me.berkeley.edu

Masayoshi Tomizuka

Department of Mechanical Engineering, University of California, Berkeley, CA 94720tomizuka@me.berkeley.edu

J. Dyn. Sys., Meas., Control 132(1), 011008 (Dec 09, 2009) (9 pages) doi:10.1115/1.3117195 History: Received December 12, 2007; Revised February 17, 2009; Published December 09, 2009; Online December 09, 2009

Current approaches for high speed color printers require sheets be accurately positioned as they arrive to the image transfer station (ITS). This goal has been achieved by designing and building a steerable nip mechanism, which is located upstream from the ITS. This mechanism consists of two rollers that not only rotate to advance the paper along the track, but also steer the paper in the yaw direction. This paper briefly reviews the design and experimental setup of the system, and focuses on the design and analysis of a controller that precisely corrects the lateral, longitudinal, and angular positions of the sheet. The control strategy used is based on linearization by state feedback with the addition of internal loops for the local control of the actuators. This paper also provides a methodology to tune the controller parameters so that the desired performance specifications are met. The success of this mechatronic approach is corroborated through simulation and experimental results, which show that the system is able to correct sheet errors and meet all the performance specifications.

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Copyright © 2009 by American Society of Mechanical Engineers
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Figures

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Figure 1

Schematic of steerable nip fixture

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Figure 2

Sheet moving through the steerable nip mechanism

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Figure 3

Steerable nips with paper buckle

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Figure 4

Experimental setup

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Figure 5

DC motors used for the steerable nip mechanism

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Figure 6

System block diagram for implemented system

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Figure 7

Simulation results for large initial errors. The vertical dotted lines denote the allowable control time, T, and the horizontal lines denote the final errors at time T.

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Figure 8

Experimental and simulation results for small initial errors

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