| 摘要 |
PURPOSE:To attain positioning by the gradual change of a speed command value, by performing positioning control by calculating an optimum speed command value required for the satisfaction of the content of an alteration command corresponding to the current position of a mobile objection. CONSTITUTION:When the current position detected by a position detector 2 is outside a deceleration distance, a timer acceleration designation, or a designated speed limit command is supplied. When a detected current position is within the deceleration distance, a deceleration speed pattern command is supplied, and the mobile object is stopped. When alteration in a stop targeted position and speed limit in positioning currently is generated, the current position area of the mobile object for an altered targeted position is judged from the current position of the mobile object, a current speed command value, and the altered targeted position, by a current position discriminating means 7, and an optimum positioning speed pattern at every area is calculated from the content of an altered command, the current position of the mobile object, and the current speed command value. The positioning after the alteration of a command is performed smoothly by the speed pattern. |
