| 摘要 |
A speed direction corrector determines whether a speed Vp corresponding to a manipulated variable Up generated by a position controller is larger than a target speed Vt set in a target speed setting register (Vp>Vt). If Vp<=Vt, the manipulated variable corresponding to the target speed Vt is corrected to the manipulated variable Up to produce a new manipulated variable Uf. If Vp>Vt, a manipulated variable corresponding to the target speed Vt is set to the new manipulated variable Uf as is. As above, in a deceleration section where Vp<=Vt, the manipulated variable of a position control is reflected in the manipulated variable of a speed control. Combined use of the speed control and the position control becomes possible without a need to execute a complicated process in which the manipulated variable is regulated at the time of switching from the speed control to the position control.
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