| 摘要 |
PURPOSE:To execute a positioning at a high speed by driving a DC motor by executing a linear accelerating operation at the time of start and a linear decelerating operation at the time of deceleration from the highest angular velocity, a command angular velocity, etc. CONSTITUTION:An angular velocity given to a speed loop system is operated by a command pulse and a feedback pulse from a pulse oscillator 14 connected to a DC motor 12 by an operator 9. This result is compared 10 with the angular velocity of the motor 12 detected by a tachogenerator 13, and the motor concerned 12 is driven through an amplifier 11. This operation is derived by an accelerating angular velocity omegau=omegam(thetan/thetau)<1/2>, and a decelerating angular velocity omegad=omegac(thetar/thetad)<1/2>. (Provided that omegam; the highest angular velocity, Wc; a command angular velocity, thetau and thetar; the number of remaining pulses required for a linear acceleration extending from zero to omegam and to the end point, and thetan and thetad; the number of pulses which are moved already and also required for a linear deceleration extending from omegac to zero.) As a result, after omegau=omegac, thetar=thetad, and after thetar=thetad, each command is outputted until the positioning is ended. |
