| 摘要 |
<p>PURPOSE:To extremely precisely follow a tracking point and to attain a quick following movement by calculating a function estimating the speed variable of a conveyer and the relative position deviation of work from a following carriage and correcting the position and speed so as to follow. CONSTITUTION:In terms of a controller 1, a speed converter 16 detects a conveyed body 3, and simultaneously calculates the instantaneous speed of the conveyer 2 in time series. According to the output a CPU 19 calculates the conveyance speed fluctuation function of the conveyer 2, and periodically updates and stored it by interruption processing. In accordance with the relative position deviation of the updated conveyance speed fluctuation function from the following carriage 6 with respect to the tracking point of the body 3 which is obtained from a position deviation computing element 17, the speed command signal and tracking position correction amount of the carriage 6, which are outputted to a servo amplifier 12, are calculated. Accordingly the carriage 6 follows the body 3 at the speed allowing the speed fluctuation of the conveyer 2. Besides the relative position deviation amount stemmed from the time necessary for calculating a speed command signal is corrected, thereby precisely following the tracking point.</p> |
