| 摘要 |
PURPOSE:To make smooth the action at the start of motion of a control object and make it hard to be influenced by disturbance by constituting an accelerator decelerator of an arithmetic unit for calculating the difference between a command angle and a directional angle, an arithmetic unit for calculating a speed signal from the differential angle, and an arithmetic unit for limiting the speed command according to the variation of speed. CONSTITUTION:A command angle, from an angle command part 1, and a directional angle, from an angle detector 3d, are input into an acceleration and deceleration controller. A directional angle arithmetic unit 2b determines the difference between the command angle and the directional angle, and a speed signal arithmetic unit 2c calculates a speed signal. Next, a speed limiter 2d compares this speed signal with the speed command being outputted last time, and when the variation of the speed is smaller than the limiter value, it makes the speed signal a speed command, and when it is larger than the limiter value, it performs compensation and outputs a speed command. A servo driver 3a drives a motor 3b when it receives a speed command, and changes the directional angle. This feedback control is performed at a predetermined period to perform the positional control of the object. |
