Title:
APPARATUS FOR CONTROLLING ACCELERATION AND DECELERATION FOR SERVO CONTROL
Document Type and Number:
WIPO Patent Application WO/1990/001187
Kind Code:
A1
Abstract:
An apparatus for controlling acceleration and deceleration for servo control capable of reliably suppressing vibration of a servo motor that is a source for driving machines. The apparatus for controlling acceleration and deceleration is provided with the same number of acceleration/deceleration control units as the servo motors provided for the machine, and each acceleration/deceleration control unit consists of a predetermined number of delay units and has first to third acceleration/deceleration filters that are connected in series. The first to third filters sent to the second and third filters and to the corresponding servo circuits the outputs (Pb, Pc, Pd) that are obtained by dividing the sum of an instruction speed (Pa), the ones corresponded to the first filter output (Pb) and to the second filter output (Pc), and values stored in the delay units of the filters by a value which consists of a number of units to which ''1'' is added. Discontinuity of the first and second derivatives (acceleration, and rate of change of acceleration) of the first filter output (Pb) generated during the acceleration/deceleration processing (tau) is removed by the acceleration/deceleration processing through the second and third filters.
Inventors:
HARA RYUICHI (JP)
Application Number:
PCT/JP1989/000738
Publication Date:
February 08, 1990
Filing Date:
July 24, 1989
Export Citation:
Assignee:
FANUC LTD (JP)
International Classes:
G05B19/416; G05D3/12; (IPC1-7): G05D3/12
Foreign References:
| JPS59168513A | 1984-09-22 | |||
| JPS61283910A | 1986-12-13 | |||
| JPS62298976A | 1987-12-26 |
Other References:
See also references of EP 0378708A4
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