Robust model predictive control of copier toner supply system
FANG Yong
WANG Quan
DU Jun-zhao
YAN Yu-xiao
YUAN Zhi-yi
Abstract：Maintaining the stability of toner concentration to ensure printing quality is a key problem in the engineering application of copiers.In order to solve the problem of long time delay and uncertainty in the toner supply control system of copier,a predictive control strategy based on robust model is designed.Firstly,the mathematical model of the physical characteristics of the toner supply system is obtained by using the system identification method;Then,a robust model predictive controller is designed for the toner supply system of the copier,and an improved whale optimization algorithm(WOA)is introduced to optimize the controller parameters;Finally,the optimal toner supplement is calculated based on the cost function of the controller,and the on-line rolling optimization control of the system is implemented continuously.The experimental results show that compared with the widely used PI controller,the robust model prediction-based toner supply controller has decreased the root-mean-square error of toner concentration change by 8.0％,4.8％and 25.0％,and the standard deviation by 1.4％,5.4％and 14.4％in the tasks of fixed,incremental and stochastic image coverage,which indicates that this method can effectively reduce the dispersion of toner concentration in the printing process,and has a better dynamic performance control effect.
Keywords：model predictive controlcopiersystem identificationtoner supplywhale optimization algorithm
Publication Date：2026-02-28
Online Publishing Date：2026-04-08(First online date of this platform, not the publication date of the document)
Pages：7( 438-444 )