Patent ID: 7379680

Claim:
A method for correcting misregistration effects in an image forming device, comprising: cycling a mechanical subsystem that may be subject to torque disturbances in operation through a plurality of cycles; sensing velocity and position of the mechanical subsystem as the mechanical subsystem is cycled through the plurality of cycles; measuring maximum and minimum velocities of the mechanical susbsystem in operation on each cycle; associating maximum and minimum velocities for each cycle with a position of the mechanical subsystem at which each occurs; averaging a single maximum velocity and a single minimum velocity value and a position at which each occurs for the plurality of cycles; computing a set of feed forward correction factors based on a start point of a torque disturbance, a width of a torque disturbance, and a height of a torque disturbance obtainable from an algorithm that uses the averaged values for maximum velocity and minimum velocity and the associated positions of each as variables; and inputting the computed set of feed forward correction factors to a feed forward control device to automatically control the mechanical subsystem in anticipation of the torque disturbance in operation to reduce the effects of the torque disturbance.