| 摘要 |
PROBLEM TO BE SOLVED: To smoothly accelerate a motor and, at the same time, to reduce the overshooting of the motor after the rotating speed of the motor reaches a target speed, by issuing an order so that the acceleration change of an object to be controlled may become continuous and smooth or the differential change of the acceleration may become continuous in accelerating a mechatronic device which uses the motor as its driving source. SOLUTION: In the acceleration graph, the peak of an intermediate acceleration is large as compared with the position (4), but it can be said that the acceleration continuously changes, because the acceleration gradually increases after the acceleration is started and gradually returns to '0' after the acceleration is completed. Since the driving force which makes the acceleration trace this speed variation curve continuously changes the acceleration as shown by curve (2), an object to be controlled can be controlled in a more natural low-loss state. In addition, when a 'speed command value' is given by the quintic functional speed variation curve (1), led to a target speed of 600 mm/sec, and simulated, the spot where the speed changes in steps during acceleration becomes smoother and the overshooting of a motor also becomes smaller after the rotating speed of the motor reaches the target value.
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