| 摘要 |
PROBLEM TO BE SOLVED: To provide a simple acceleration/deceleration pattern generator capable of improving a stepwise change and enabling a machine system or the like to follow up a command input value by a second order integration curve. SOLUTION: The pattern generator is provided with a 1st subtracter for calculating a deviation between an input signal and an output signal, a 1st multiplier, a 1st limitation circuit for limiting acceleration values to two positive and negative values consisting of a maximum added acceleration and a minimum subtracted acceleration, a 2nd multiplier, an extraction computing element for extracting the square root of an output result and calculating the square root, a polarity inverter, an integrator for integrating an output from the 1st limitation circuit, a 2nd limiting circuit having two positive and negative limitation values for limiting the integration value of the integrator, a priority selector for giving priority to a value having a smaller absolute value out of the output of the polarity inverter and the output of the integrator, and so on. Thus the machine system or the like follows up the command input value by the curve integrated by the second order on the basis of value limited to the maximum added acceleration and the minimum subtracted acceleration.
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