| 摘要 |
<P>PROBLEM TO BE SOLVED: To use velocity control and position control at the same time without performing complicated processing. <P>SOLUTION: A speed command corrector 74 determines whether the controlled output (velocity equivalent to it) Up generated by a position controller 72 is larger than the target velocity Vt set in a target velocity setting range 53 or not (Up>Vt). If the controlled output Up is less than the target velocity Vt, it corrects the target velocity Vt into the controlled output Up, and makes it new controlled output Uf as it is on one hand, and if the controlled output Up is larger than the target velocity Vt, it makes the controlled output equivalent to the target velocity Vt new controlled output Uf as it is on the other. This way, it can reflect the controlled output of position control on the controlled output of velocity control in a deceleration zone where the controlled output Up is under the target velocity Vt, so it switches the velocity control into position control. It can use the velocity control and the position control at the same time without performing complicated processing such as switching the velocity control into position control or suppressing the controlled output at this switching. <P>COPYRIGHT: (C)2005,JPO&NCIPI |
