ACCELERATION/DECELERATION CONTROL DEVICE
First Claim
1. An acceleration/deceleration control device that generates a command acceleration that is a command value of an acceleration and a command velocity that is a command value of a velocity so as to reach a target velocity according to an acceleration command curve, the acceleration/deceleration control device comprising:
- a command generating unit that generates an acceleration command curve for providing the command acceleration, and generates the acceleration reduction curve when a target-velocity change command is input during acceleration;
a residual-velocity calculating unit that calculates a residual velocity that corresponds to a velocity increment when the acceleration is reduced from a current command acceleration to zero according to an acceleration reduction curve generated by the command generating unit;
a differential-velocity calculating unit that calculates a differential velocity corresponding to a difference between the target velocity and a current command velocity; and
an acceleration-reduction-start-timing determining unit that causes the command generating unit to generate an acceleration reduction curve based on a time when the residual velocity has become equal to or higher than the differential velocity and starts to reduce the command acceleration according to the acceleration reduction curve.
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Accused Products
Abstract
A residual-velocity calculating unit calculates a residual velocity that corresponds to a velocity increment when an acceleration is reduced from a current command acceleration to zero according to an acceleration reduction curve. A differential-velocity calculating unit calculates a differential velocity vs=v0-vn, which is a difference between a target velocity v0 and a current velocity command for every command generation period. An acceleration-reduction-start-timing determining unit compares the residual velocity to the differential velocity for determining whether acceleration reduction starts. When a condition that the residual velocity is equal to or larger than the differential velocity is satisfied, the acceleration-reduction-start-timing determining unit determines the start of the acceleration reduction and starts to reduce the command acceleration according to the acceleration reduction curve generated by the command generating unit.
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Citations
5 Claims
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1. An acceleration/deceleration control device that generates a command acceleration that is a command value of an acceleration and a command velocity that is a command value of a velocity so as to reach a target velocity according to an acceleration command curve, the acceleration/deceleration control device comprising:
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a command generating unit that generates an acceleration command curve for providing the command acceleration, and generates the acceleration reduction curve when a target-velocity change command is input during acceleration; a residual-velocity calculating unit that calculates a residual velocity that corresponds to a velocity increment when the acceleration is reduced from a current command acceleration to zero according to an acceleration reduction curve generated by the command generating unit; a differential-velocity calculating unit that calculates a differential velocity corresponding to a difference between the target velocity and a current command velocity; and an acceleration-reduction-start-timing determining unit that causes the command generating unit to generate an acceleration reduction curve based on a time when the residual velocity has become equal to or higher than the differential velocity and starts to reduce the command acceleration according to the acceleration reduction curve. - View Dependent Claims (2, 3, 4, 5)
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Specification