| 摘要 |
A method of controlling movement of a load from a known start position to a known target position is disclosed, wherein the movement will comprise at least an acceleration phase and a subsequent deceleration phase; said load being connected to a drive means (12), which is controlled by a controller (10); said load having a predetermined movement profile including a nominal speed and a creep speed; said method comprising obtaining a first distance which is the distance that, according to the predetermined movement profile, the load must travel during its acceleration phase in order to reduce its magnitude of acceleration from maximum to zero, wherein at zero acceleration the load would be travelling at its nominal speed; obtaining a second distance which is the distance that, according to the predetermined movement profile, the load must travel during its deceleration phase in order to reduce its speed from its nominal speed to its creep speed; and issuing a deceleration command from the controller to the drive means during movement of the load when the distance between the load's current position and a position at which it should be at creep speed is equal to the first distance plus the second distance . |
