| 摘要 |
PURPOSE:To obtain smooth acceleration and deceleration without giving a large shock to a work and mechanical part by dividing a servomotor- accelerating and decelerating time into three sections of acceleration increase, fixing and decrease and by accelerating and decelerating a servomotor in each section while real time-operating a speed command value so that the acceleration is kept constant. CONSTITUTION:The rotational speed V of a permanent-magnet type DC motor 10 is detected by a pulse generator 18 and the deviation (v-V) from a speed command (v) is obtained in a subtracter 20. Accordingly, a speed controller 22 sends a motor current control signal (g) to a gate circuit 14 and successively turns ON a thyristor bridge 12 by an output gate signal G in a specified phase to control the motor 10. The speed command (v) is obtained by the real-time operation through a CPU 24 of a program memorized in a ROM 26 or information from an input terminal 28. The input terminal 28 inputs a target position, target speed vM, acceleration increase section T1, fixing section T2 and decrease section T3; constant accelerations beta1, beta2 in sections T1, T3; etc., and operates and outputs the command speed (v). |
