| 摘要 |
PURPOSE:To dispense with storage of patterns of acceleration and deceleration and to enable control of acceleration and deceleration by a small amount of computation or a small number of elements, by using a recursive finite impulse response filter. CONSTITUTION:Unit delay elements 21 in the number of (n) are set in a cascade connection and a first delay means which inputs a speed command Vc is constructed in the initial stage of the connection. In an adder 22, a difference between the inputted speed command Vc and a delay output Vcn of the final stage of the first delay means is determined. An output of this adder 22 is made to branch and fed back to the adder 22 through a second delay means formed of one unit delay element 23. The output of the adder 22 is multiplied by a coefficient 1/n in a multiplier 24 and a speed output signal Vr is obtained. When a delay time of the unit delay elements 21 is denoted by Ts and the time of acceleration and deceleration by Ta, the number (n) of the unit delay elements 21 of the first delay means for delaying the speed command Vc is set to be n=Ta/Ts. By a recursive finite impulse response filter thus constituted, the speed output signal Vr having a slant in a rise and a fall is obtained. |
