Title:
SYSTEM FOR CONTROLLING ACCELERATION AND DECELERATION
Document Type and Number:
Japanese Patent JPS61157910
Kind Code:
A
Abstract:
PURPOSE:To allow a linear acceleration/deceleration control to drive a mechanical system smoothly and properly by executing the prescribed speed control in accordance with results available from comparing a moving time up to a target position with a time obtained by adding a certain time in a constant speed area to an acceleration time. CONSTITUTION:An arithmetic means calculates a moving time Tmov from a command speed F and a moving distance up to the target position and a maximum acceleration speed Amax from a time constant T and the maximum value Fmax of the feed speed, and obtains an acceleration time Ta necessary for reaching the speed F with the aid of an acceleration Amax. A comparing means compares the time Tmov with a time Tf+Ta available from adding the time TA to a constant time Tf in a constant speed area set between acceleration and deceleration areas. A control means sets the time to Tf=Tmov-Ta in case of Tmov>=Tf+Ta, while in case of Tmov+4D/Amax<2>)}/2 and the speed F to F'=D/(Tf+ Ta'), and the control means controls the speed.
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Inventors:
KISHI HAJIME
SAKAKIBARA SHINSUKE
ITO TAKAYUKI
SAKAKIBARA SHINSUKE
ITO TAKAYUKI
Application Number:
JP27838684A
Publication Date:
July 17, 1986
Filing Date:
December 29, 1984
Export Citation:
Assignee:
FANUC LTD
International Classes:
B25J9/16; G05B19/416; (IPC1-7): B25J9/16
Attorney, Agent or Firm:
Minoru Tsuji