Title:
【発明の名称】移動体の速度制御方法およびその制御装置
Document Type and Number:
Japanese Patent JP3063562
Kind Code:
B2
Abstract:
PURPOSE: To prevent the occurrence of oscillation by giving the deceleration command of a speed control system in accordance with a specific formula in case a position deviation e is larger than the deviation at the point of switching from the deceleration command to the position deviation proportional speed command to reduce or eliminate the change of deceleration, torque, and jerk. CONSTITUTION: When a movement command value to a position xf is given from a target position command input device 5 to an adder 10, a present position xp obtained by converting the pulse signal of an encoder 18 by a position operator 20 is fed back and is inputted to the adder 10. An acceleration speed command value generator 6 calculates and outputs the acceleration of uniform acceleration motion for acceleration. A maximum speed command value generator 7 outputs a maximum speed, and a deceleration speed command value generator 8 calculates and outputs a deceleration speed command value v2 in accordance with the formula where kp, c1, and a2 are the position deviationn proportional gain, the position deviation at the point of switching from the deceleration command to the positionn deviation proportional speed command, and the absolute value of the acceleration (deceleration in the uniform deceleration motion) at the time of deceleration respectively. In this formula Sign(e) shows the sign of the position deviation (e).
Inventors:
Yoshihiro Sakakibara
Suzuki Hokkai
Suzuki Hokkai
Application Number:
JP4820695A
Publication Date:
July 12, 2000
Filing Date:
March 08, 1995
Export Citation:
Assignee:
Hitachi Techno Engineering Co., Ltd.
International Classes:
G05B7/02; G05D1/02; G05D3/12; G05D13/62; H01L21/027; (IPC1-7): G05D13/62; G05B7/02; G05D3/12
Domestic Patent References:
| JP8106326A | ||||
| JP61172281A | ||||
| JP4342003A | ||||
| JP4232677A | ||||
| JP1260510A | ||||
| JP53106104A | ||||
| JP540529A | ||||
| JP61183719A |
Attorney, Agent or Firm:
Yukihiko Takada