| 摘要 |
In a command variable transmitter (FGG), guide values for the reference path value (SF) are formed with triple temporal integration of jerk rates (RF). An acceleration controller (22, 23) which is limited to the maximum pressure (Rmax) is provided in this case for the acceleration (BF), i.e. for the time integral of the jerk, the reference value (B*) of said acceleration controller being varied, in the case of small displacement paths, in dependence on the remaining path and, in the case of relatively large displacement paths, in dependence on the speed. The reference values determined for the path (SF), speed (VF) and acceleration (BF) are fed to the position drive (PA). <IMAGE>
|
