| 摘要 |
PURPOSE:To reduce the impact which is produced at a servo system, by compensating a speed command of a locus interpolation PTP control system with the compensating function of the value which is obtained by multilying the step variation value of the speed command delivered from a PTP controller by a speed compensating pattern. CONSTITUTION:The informations on the three consecutive points are applied to a PTP controller CT from the locus data, and the controller CT calculates the step variation width DELTAV of the speed command of the servo systems connected to each other with a straight line. Then whether the step variation shows the acceleration or deceleration is decided. The time point when the speed command is set at the time original point of the speed compensating function, and the synchronizing signal is produced from a PTP controller CT to ensure the synchronism between the speed command and the speed compensating function. The speed compensating functions to both acceleration and deceleration of the unit step are generated from the acceleration speed compensating function generators with use of the synchronizing signal. The acceleration or deceleration compensating function is selected to each shaft of a servo system. Then the sum of a speed compensating function W obtained by multiplying DELTAV by the acceleration or deceleration function and the speed command V given from the CT is delivered to an integrator as a speed command of the servo system of each shaft. |
