| 摘要 |
PURPOSE:To shorten the arriving time of a mover incorporating an anti-collision device, in control of running of the mover, by computing, from a speed and a position at the time when an alarm signal from the anti-collision device is released, an imaginary running start point upon the release, and by obtaining an optimum running pattern between the point and a desired position. CONSTITUTION:After a mover running at a constant speed for a time T2 from a point P2 as a reference at which an alarm signal from an anti-collision device is released, an imaginary running start point P0 at a speed at a point P3 is obtained so as to determined an optimum running pattern by use of a distance to a desired position, by which the speed control of the mover is carried out. That is, if the speed upon release of warning is zero, the mover is controlled to be accelerated in accordance with the distance to the desired position at that time. The speed is other than zero, the speed upon the release is used as a desired speed to carry out a predetermined computation for obtaining the imaginary running start point P0. Then, the optimum running pattern is determined in accordance with the distance between the running start position P0. With this arrangement, it is possible to shorten the required time.
|
