JPH07200063A - Munerical control device and method therefor - Google Patents

Abstract

PURPOSE:To provide a numerical control device and a method therefor capable of relatively easily performing a processing coping with the change of a target value when the target value is changed while a movement object is movement- controlled. CONSTITUTION:When the target value Pm is changed while the movement object is moment-controlled, a position Pk+1 after the lapse of one clock from the present position Pk of the movement object is successively generated based on the changed target value Pm', at the time of the deceleration of the movement object, after the deviation between the stop position of the movement object and the changed target value Pm' is calculated, an operation for making the deviation small is repeated and thus, the processing coping with the change of the target value is relatively easily performed.

Description

Detailed Description of the Invention

[0001]

[Table of Contents] The present invention will be described in the following order. Field of Industrial Application Conventional Technology Problem to be Solved by the Invention Means for Solving the Problem (FIGS. 1 and 6 to 12) Action (FIGS. 1 and 6 to 12) Example (1) Overall Configuration (FIGS. 1 to 4) (2) Target value change (FIG. 5) (3) Overall processing procedure (FIGS. 6 to 12) (4) Processing in first state (FIGS. 6 and 7) (5) ) Processing in the second state (FIGS. 6 and 8) (6) Processing in the third state (FIGS. 6 and 9) (7) Processing in the fourth state (FIGS. 6 and 10) (8) Processing in state 5 (FIGS. 6 and 11) (9) Processing in state 6 (FIGS. 6 and 12) (10) Operation of the embodiment (FIGS. 1 and 6 to 12) (11) Embodiment Effects (FIGS. 1 and 6 to 12) Effects of the invention

[0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a numerical control device and method thereof, and is particularly suitable for application to a target value generation device and method thereof whose target value can be easily changed.

[0003]

2. Description of the Related Art Conventionally, as a numerical control device of this type, when a target trajectory is changed after the target trajectory is generated based on the target value, the target trajectory is re-established based on the target value after the target value is changed. A method of starting the movement of the movement target after regenerating it as a whole is generally used.

[0004]

By the way, in the conventional numerical control apparatus of this type, when the target value is changed while the movement target is being controlled, the target trajectory based on the changed target value. It is necessary to regenerate the whole device within one clock time, and there is a possibility that the arithmetic processing for generating this target trajectory will not be completed within one clock time. On the contrary, this calculation speed limits the one clock time in the digital control, which may be an obstacle to speeding up the calculation process.

The present invention has been made in consideration of the above points, and when the target value is changed while the moving object is controlled to move, the process corresponding to the change of the target value can be performed relatively easily. The present invention intends to propose a numerical control device and a method therefor.

[0006]

In order to solve such a problem, according to the present invention, in a numerical controller 1 for controlling the movement of a moving object with respect to a target position represented by a set target value P _m , When the target value P _m is changed while the moving object is being controlled for movement, the changed target value P _m
code a target value generating unit 2, the position signals P _k transmitted from the target value generator 2 for sequentially generating position signals P _{k + 1} from the current position P _k 1 clock after the moving object based on _m ' And a servo control unit 3 that servo-drives based on a control signal U _k obtained by matching the output signal Y _k sent from the unit 4.

Further, according to the present invention, in the numerical controller 1 for controlling the movement of the moving object with respect to the target position represented by the set target value P _m , the target is controlled while the moving object is being controlled. When the value P _m is changed, the current position P _{k of the} movement target is calculated based on the changed target value P _m ′.
The position after one clock has been sequentially generated, and when decelerating the moving object, the deviation between the stop position of the moving object and the changed target value P _m ′ is calculated and then the operation for reducing the deviation is repeated. To

Further, in the present invention, in the numerical control method for controlling the movement of the moving object with respect to the target position represented by the set target value P _m , the target value is controlled while the moving object is being controlled. When P _m is changed, the current position P _{k of the} moving object is changed based on the changed target value P _m ′.
Position signals P _{k + 1} after one clock has elapsed are sequentially generated,
Servo drive is performed based on a control signal U _k obtained by matching the position signal P _k sent from the target value generation device 1 with the output signal Y _k sent from the encoding unit 4.

[0009]

The target value P _{k + 1} after one clock has elapsed is sequentially generated from the target value P _k of the moving object based on the changed final target value P _m ′. At this time, when decelerating the moving object, After calculating the deviation between the stop position of the moving object and the changed final target value P _m ′, the operation of reducing the deviation is repeated.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail below with reference to the drawings.

(1) Overall Configuration In FIG. 1, reference numeral 1 generally indicates a schematic configuration of a digital position control servo device, in which a target value generator 2 externally gives a final target value (hereinafter, a final target value). Say)
It generates a target value P _k at time k based on a signal P _m, and sends a signal of the target value P _k to the servo controller 3. Further, the target value generation device 2 is configured to judge whether or not the target value change is requested based on the value of the target value change flag ch flag given from the outside.

The servo controller 3 sets the control signal U _k based on the PID control rule or the like so that the signal of the target value P _k obtained from the target value generating device 2 matches the output signal Y _k obtained from the encoder 4. Generate the relevant control signal U _k
The motor 5 is rotationally driven based on At that time, the drive state of the motor 5 is sent as a signal to the encoder 4, and is sent as an output signal Y _k in the encoder 4.

The motor 5 rotates corresponding to the target value P _k , has, for example, a tip of an arm (not shown) of the robot, and is controlled to move by the arm (hereinafter referred to as a moving object) ( (Not shown) controls the movement from the start position P ₀ to the final target value P _m corresponding to the target value P _k . The motor 5 has a maximum speed V _max.
And the motor ratings for maximum acceleration A _{max and the} like are satisfied.

As shown in FIG. 2A, the target trajectory L1
Is represented by a curve representing a sequence of target values P _k from the start position P _{0 at} time ₀ to the final target value P _m at time k _3, that is, a movement trajectory of the moving object. This target trajectory L1
Is the acceleration unit L1A from time 0 to time k ₁ , time k ₁
To a time k ₂ and a constant speed portion L1B and a speed reduction portion L1C from a time k ₂ to a time k ₃ .

Further, as shown in FIG. 2B, L2 indicates an acceleration straight line corresponding to the target trajectory L1, and the movement target is controlled to move by the servo controller 3 so that the maximum acceleration in the acceleration unit L2A. The _vehicle is accelerated (hereinafter referred to as maximum acceleration) based on A _max until it reaches the maximum speed V _max , and subsequently, the maximum speed V _{max is obtained} in the constant speed portion L2B.
In the deceleration unit L2C, deceleration based on the negative acceleration corresponding to the maximum acceleration A _max (hereinafter,
The maximum deceleration is called).

At this time, the duration in each of these states is the final target value P _{m, the} maximum velocity V _max , and the maximum acceleration A.
It will be determined by each value of _max . here,
The distance traveled by the target value P _k from the maximum deceleration of the moving object at the maximum speed V _max until the speed becomes 0 (from time k ₂ to time k ₃ ) is P _stop .

As shown in the state transition diagram of FIG. 3, when the moving distance of the target value P _k from the starting position P ₀ to the final target value P _m is sufficiently long, the moving object is based on the maximum acceleration A _max . The target value P _k does not reach the final target value P _m before reaching the maximum speed V _max after being accelerated, and therefore the moving target is in the first state (state 1) and the second state (state 2). And the third
The state (state 3) can be sequentially transited.

That is, the state 1 shows the state in which the moving object is maximally accelerated and reaches the maximum velocity V _max (at the position of the time k ₁ ), and subsequently, the state 2 shows the moving object having the maximum velocity V _max.
The state is maintained until the target value P _k corresponding to the moving object reaches the position of P _m −P _stop (position of time k ₂ ), and state 3 further decelerates the moving object to the maximum,
The state is shown until the speed becomes 0 (position at time k ₃ ).

Further, when the moving distance of the target value P _k from the start position P ₀ to the final target value P _m is short, the moving object is accelerated based on the maximum acceleration A _max, and then the maximum speed V is reached.
_{Since the} target value P _k reaches the final target value P _m before reaching _max , it becomes necessary for the moving object to start deceleration before reaching the maximum speed V _max.
Will transition to. That is, first, in the state 1, the moving object is accelerated based on the maximum acceleration A _max ,
Moves connexion maximum deceleration is initiated to a target value P _k is (P _m -P ₀₎ / 2 of the reaches the position at the same time the state 3.

Further, the moving object can be transited in the direction opposite to the direction in which the state 1, the state 2 and the state 3 are sequentially transited in the above-mentioned case, and in this case, the accelerating portion is moved to the fourth state (state 4). FIG. 4 shows a state transition diagram corresponding to the state transition diagram shown in FIG. 3 in which the constant speed portion is in the fifth state (state 5) and the deceleration portion is in the sixth state (state 6). In FIG. 4, the transition from the state 3 to the state 4 and the transition from the state 6 to the state 1 can occur when the moving target needs to be accelerated again due to the change of the final target value P _m. It will be.

(2) Change of target value In the case where the final target value P _m is changed to P _m ′, the target value generating device 2 changes the state based on the changed final target value P _m ′. By continuing the same operation as the operation in each state before the change of the target value, the target value P _k of the time k corresponding to the operation is generated.

First, when the final target value P _m is changed to P _m ′ while the moving object is being controlled to move (hereinafter, referred to as target value change), the final target value P after the change is changed.
_{A case where m} ′ is a value larger than the initial final target value P _m will be described.

When the target value is changed in the state 1 or the state 2, the target value generating device 2 replaces the final target value P _m with the changed final target value P _m ′, and then performs the same process as before the change. By continuing the operation in the state, the target value P _k reaches the changed final target value P _m ′. In this case, the position (P _m -P ₀ ) / 2 where the state 1 transits to the state 3 or the position P _m -P _stop where the state 2 transits to the state 3 is
They are respectively replaced with (P _m ′ −P ₀ ) / 2 and P _m ′ −P _stop .

Further, when the target value is changed in the state 3, the moving distance of the target value P _k from the start position P ₀ to the changed final target value P _m ′ becomes longer than that before the change. Nevertheless, the target value P _k may not reach the changed final target value P _m ′ because the moving object is decelerated to the maximum. Therefore, the target value generation device 2 again transits to the state 1 and accelerates the moving object to the maximum, so that the target value P _k can reach the changed final target value P _m ′.

In FIG. 4, regarding the transition from state 3 to state 1 and the transition from state 6 to state 4, it is necessary to accelerate the moving object again because the final target value P _m is changed. Will happen to you.

At this time, when the state 3 is changed to the state 1 in accordance with the change of the target value, the start position P ₀ also needs to be changed, and accordingly, the time on the target trajectory L3 shown in FIG. When the final target value P _m is changed to P _m ′ when the target value P _{k at k} is at the position of the point R _A , the position of the predetermined point Q _A is set as the new start position P ₀ ′. . Here, as shown in FIG. 5B, a point R on the acceleration straight line L5
_B corresponds to the point R _A on the target trajectory L3 shown in FIG. 5A, and represents the position at the speed V _{k at} the time _k .

In setting the position of the point Q _B corresponding to the point Q _A representing the new start position P ₀ ′ in FIG. 5B, the value of the maximum acceleration A _max in the state 1 is always constant. Therefore, the acceleration straight line L6 indicating the case of maximum acceleration has to pass through the position of the point R _B , and accordingly, the intersection of the acceleration straight line L6 and the time axis should be set as the position of the point Q _B. To

As a result, as shown in FIG.
_The target trajectory L4 showing the case of maximum acceleration from the position _A is
By replacing the target trajectory L3 at the position of the point R _A , the target value P _k can reach the changed final target value P _m ′.

As described above, by setting a new start position each time the final target value P _m is changed and performing the operation in the state 1 again, the target value P _k becomes (P _m -P ₀ ′). )
When it reaches / 2, it is possible to transit to the state 3, and when the velocity of the moving object reaches the maximum velocity V _max before the target value P _k reaches (P _m -P ₀ ′) / 2, It is possible to transit to state 2. Therefore, the changed final target value P _m ′
It is possible to generate a target trajectory corresponding to.

Secondly, in the case of changing the target value, the case where the changed final target value P _m ′ is smaller than the initial final target value P _m will be described. When the target value P _k has not reached the position where the maximum deceleration should be started with respect to the changed final target value P _m ′, the target value generation device 2 sets the final target value P _m to P _m ′. After the replacement, the target value P _k can reach the final target value P _m ′ after the change by continuing the operation in each state as before the change.

In this case, the position where the target value P _k has to start the maximum deceleration with respect to the changed final target value P _m ′ is (P _m ′ − when the target value is changed in the state 1). The position is P ₀ ) / 2, and is the position of P _m ′ -P _stop when the target value is changed in the state 2.

Further, when the target value P _k is changed when the target value P _k exceeds the position where the maximum deceleration as described above has to be started with respect to the changed final target value P _m ′. Is the final target value P _m ′ after the change from the start position P ₀
Although the moving distance of the target value P _k up to is shorter than that before the change, since the moving object is not decelerated, the target value P _k may exceed the changed final target value P _m ′. is there. Therefore, when the target value is changed, the target value generation device 2 immediately transits to the state 3 and performs maximum deceleration, so that the target value P _k cannot exceed the changed final target value P _m ′. To do.

At this time, the target value P _k may exceed the changed final target value P _m ′ even if the moving object is decelerated to the maximum. Therefore, in this case, the changed final target value P _k.
The moving object is stopped at a position exceeding _m ′, and the stopped position is set as a new start position P ₀ ′.
Start the transition in the opposite direction to.

(3) Overall Processing Procedure The processing procedure in the target value generating device 2 shown in FIGS. 6 to 12 will be described as follows. The relational expression between the target value P _k and the speed V _k at the time _k is regarded as P _k = P, where the speed V _k is regarded as the distance moved during one clock at a constant speed.
_It will be expressed as _k-1 + V _k . Further, at the time of maximum acceleration, the maximum acceleration A _max is regarded as the velocity moving in one clock, and is expressed as V _{k + 1} = V _k + A _max .

Further, state represents a state, for example, state
= 1 indicates the state 1. If the target value change is requested, the target value change flag ch
It is assumed that flag becomes 1. Also, stop represents the end, and stop = 1 represents that the movement target has finished the movement.

In the target value generating device 2, a new target value P _k is generated from the target value P _{k-1 at} the previous time, and further,
A new speed V _{k + 1} is generated from the speed V _{k at the} previous time. Here, the target value P _k is obtained based on the equation P _k = P _k−1 + V _k shown above,
First P _k-1 and V _k generates P _k from, then by that mobile object is an operation corresponding to the state transition connexion speed V
_Try to get _{k + 1} .

The entire flow chart will be described below with reference to FIG. In the configuration of FIG. 1, when the signal of the final target value P _m is given to the target value generating device 2 from the outside, the target value generating device 2 enters the processing procedure SP1 shown in FIG. The target value generator 2 determines P _k in step SP2.
= P _k-1 + V _k is used to generate the target value P _k from the target value P _{k -1} and the velocity V _k .

Subsequently, in step SP3, it is determined whether or not the target value generating device 2 is in the state 1, and when a positive result is obtained, the target value generating device 2 is in the first state shown in FIG. The process RT1 is started. On the other hand, if a negative result is obtained in step SP3, the target value generation device 2 moves to step SP4.

At this step SP4, the target value generating device 2 judges whether or not it is in the state 2, and when a positive result is obtained, the target value generating device 2 has the processing RT2 in the second state shown in FIG. to go into. On the other hand, step S
If a negative result is obtained in P4, the target value generation device 2
Moves to step SP5.

At this step SP5, the target value generation device 2 judges whether or not it is in the state 3, and when a positive result is obtained, the target value generation device 2 causes the processing RT3 in the third state shown in FIG. to go into. On the other hand, step S
If a negative result is obtained in P5, the target value generation device 2
Moves to step SP6.

At this step SP6, the target value generating device 2 judges whether or not it is in the state 4, and when a positive result is obtained, the target value generating device 2 has the processing RT4 in the fourth state shown in FIG. to go into. On the other hand, if a negative result is obtained in step SP6, the target value generation device 2 moves to step SP7.

At this step SP7, the target value generation device 2 judges whether or not it is in state 5, and when a positive result is obtained, the target value generation device 2 causes the process RT5 in the fifth state shown in FIG. to go into. On the other hand, if a negative result is obtained in step SP7, the target value generation device 2 enters processing RT6 in the sixth state shown in FIG.

In this way, the target value generating device 2 performs the processing operation in each state, and then the step SP
In step 9, it is determined whether stop = 1, and if a negative result is obtained, the target value generation device 2 proceeds to step SP10.
After setting to k = k + 1, the above-mentioned step SP is performed again.
Return to 2 and start the operation at the next time. On the other hand, if the target value generating device 2 obtains a positive result in step SP9, the process directly proceeds to step SP11 to end the processing procedure.

(4) Processing in the first state As shown in the processing procedure of FIG.
When the process RT1 in the state (state 1) is entered,
The target value generation device 2 enters the next step SP21 and ch
When it is determined whether or not flag = 1 and a positive result is obtained, that is, when the target value change is requested,
The transfer connexion final target value P _m was changed to P _m 'to step SP22, before proceeding to step SP23.

On the other hand, in step SP21,
When the target value generating device 2 obtains a negative result, the process directly proceeds to step SP23. Subsequently, the target value generating device 2 regards the value of the maximum acceleration A _max as the distance moved during one clock at the maximum acceleration in step SP23, and P _m
−P ₀ ≦ A _max , that is, the moving distance P _m of the target value P _k
It is determined whether -P ₀ is less than or equal to the value of this maximum acceleration A _max .

When a positive result is obtained in step SP23, the target value generating device 2 determines that step SP2.
Moving to 9, V _{k + 1} = P _m −P ₀ , that is, the moving distance P _m −P ₀ is set as the distance at the speed V _{k + 1} moving in one clock at a constant speed as it is, and the moving object is set to the state. Transition to 3. After that, the target value generator 2 proceeds to step S
Move to P28 and set ch flag = 0.

On the other hand, in step SP23,
When the target value generator 2 obtains a negative result, the process directly proceeds to step SP24. Subsequently, the target value generation device 2 regards the value of the maximum acceleration A _max as the distance moved during one clock at the maximum acceleration in step SP24, and sets P _m
−P ₀ ≦ 2 × A _max , that is, it is determined whether or not the moving distance P _m −P _{0 of the} target value P _k is less than or equal to this maximum acceleration 2 × A _max .

When a positive result is obtained in step SP24, the target value generation device 2 determines that step SP3
Moving to 0, V _{k + 1} = A _max , that is, the speed V _{k + 1} at the next time is set as the speed A _max moving during one clock at the maximum acceleration, and for stopping position adjustment at the time of deceleration. and _{P d = P m -P 0 -A} max as a value, transitioning the mobile object to the state 3. After that, the target value generator 2 proceeds to step S
Move to P28 and set ch flag = 0.

Here, P _d is a value indicating how much the target value P _k deviates from the final target value P _m when the _vehicle is decelerated based on the maximum acceleration A _max . In this case, V _{k + 1} = A
After moving at _max , when decelerating in state 3, the moving target stops at V _{k + 2} = 0 and velocity 0, so P _d =
P _m -P ₀ -A _max, i.e., the target when the maximum deceleration a difference between the distance A _max to move the P _d between 1 clock in the moving distance P _m -P ₀ and the maximum acceleration of the target value P _k Make sure that it deviates from the value.

On the other hand, when a negative result is obtained in step SP24, the target value generating device 2 determines
Move to 25. Start process of step SP23 and SP24 described above, the moving distance P _m -P ₀ is very small target value P _k, the moving distance of the target values P _k between 1 clock at the maximum acceleration and the final target value P _m It is performed when it becomes larger than the intermediate position (P _m + P ₀ ) / 2 with _respect to the position P ₀ .

Subsequently, the target value generating device 2 determines the step SP.
25, the velocity at maximum acceleration V _{k + 1} = V _k +
It is determined whether A _max is V _max or more, and if a positive result is obtained, the process proceeds to step SP31, where V _{k + 1.}
= V _max , that is, the speed V _{k + 1} at the next time is set as the maximum speed V _max, and P _stop = P _k −P ₀ and V _stop = V _k are set, and the state 2 is transited to. After that, the target value generation device 2 moves to step SP28 and sets ch flag = 0.

Here, P _stop is the state 1 to the state 2 described above.
When the moving object in the state of the initial speed 0 is accelerated based on the maximum acceleration A _max , the target value P is reached until the moving object reaches the maximum speed V _{max. k} is the distance traveled. Also, V _stop
Is the speed immediately before the moving object reaches the maximum speed V _max when the moving object is accelerated based on the maximum acceleration A _max . On the other hand, if a negative result is obtained in step SP25, the target value generation device 2 determines in step SP2.
Go to 6.

In this step SP26, the target value generating device 2 determines that P _k + V _k + A _max > (P _m + P ₀ ) / 2,
That is, the target value P _{k + 1} (= P _k + V _k + A _max ) at the next time on the assumption that the acceleration is continued in the state 1
Is an intermediate position between the final target value P _m and the start position P ₀ (P _m +
It is determined whether or not it is larger than P ₀ ) / 2, and when a positive result is obtained, the process proceeds to step SP32, and the speed V _{k + 1} =
V _k, and a value for adjusting the stop position P _d = P _m −P ₀ −
2 × (P _k -P _0), i.e., a minus 2 times the value of the difference between moving a P _d of the target value P _k distance P _m -P ₀ target value P _k and the start position P ₀ from , Transition to state 3.

Here, the speed V _{k is set} to V _k −A _k without deceleration, and the speed is set to the same speed as V _k , so that the moving distance until the moving object stops becomes equal to the value of P _k −P _0. Therefore, the calculation of the target value change can be simplified. In this state, the target value generation device 2 moves to step SP33 to determine whether ch flag = 1, and when a positive result is obtained, the target value generation device 2 has changed the target position. Judge that it is just after, and step SP
Move to 34.

In this step SP34, the target value generator 2 sets P _d = 0 so that the moving object can be stopped as soon as possible in the case of deceleration due to the change of the target position. After that, the target value generation device 2 moves to step SP28 and sets ch flag = 0.

On the other hand, in step SP33,
When the target value generation device 2 obtains a negative result, it moves directly to step SP28 and sets ch flag = 0. On the other hand, if a negative result is obtained in step SP26 described above, the target value generation device 2 moves to step SP27 and outputs V
Continue acceleration with _{k + 1} = V _k + A _max , and step SP2
Go to 8.

In this step SP28, the target value generator 2 sets ch flag = 0, then moves to step SP9 and determines whether stop = 1, and when a negative result is obtained, the target value is obtained. The generator 2 moves to step SP10 and sets k = k + 1, then returns to step SP2 again and starts the operation at the next time. On the other hand, if the target value generating device 2 obtains a positive result in step SP9, the process directly proceeds to step SP11 to end the processing procedure.

(5) Processing in Second State As shown in the processing procedure of FIG.
When the process RT2 in the state (state 2) is entered,
The target value generation device 2 enters the next step SP41 and ch
When it is determined whether or not flag = 1 and a positive result is obtained, that is, when the target value change is requested,
The transfer connexion final target value P _m was changed to P _m 'to step SP42, before proceeding to step SP43. On the other hand, if the target value generating device 2 obtains a negative result in step SP41, the process directly proceeds to step SP43.

In this step SP43, the target value generator 2 determines that the position P _{k + 1} = P _k + V _max at the next time when it is assumed that the target value generator 2 has moved at a constant speed is P _m -P _stop , that is, the final position. It is judged whether or not the difference is greater than the difference between the target value P _m and the moving distance P _stop as described above, and if a positive result is obtained, the process proceeds to step SP45, where V _{k + 1} = V _stop.
Then, deceleration is started, and here, the value of the difference between the stop position P _stop + P _{k of the} moving object and the final target value P _m when the moving object at the target value P _k is maximally decelerated until the speed becomes 0. P _d (= P _m − (P _stop + P _k ) = P _m −P _stop −
After setting P _k ), transit to state 3.

In this way, at the time of deceleration, the pattern is decelerated in the opposite pattern to that at the time of acceleration in the state 1. That is, as the target value generation device 2 decelerates the moving object, the target value generation device 2 is operated at the maximum speed V
After the speed V _{k + 1} at the next time of _max is once set to V _stop , the speed is decelerated to the maximum and the moving distance of the target value P _{k + 1} is P _stop.
The target to be moved should be stopped at the time when.

In addition to the above, for example, when the target value generating device 2 decelerates the moving object after setting the speed V _{k + 1} to V _max -A _max , V _stop > V _max -A _max . Although the degree is smaller than when V _stop is set, even if the maximum deceleration is continued from the maximum speed V _{max, the} speed V _{k + 1}
May not be exactly 0, and in that case, calculation of the stop position in the target value generation device 2 may be complicated. Furthermore, the target value P _{k + 1} (= P _k + V _max )
Even if the target value generation device 2 starts decelerating the moving target after the moving distance of P has already exceeded P _m −P _stop , the target value P _{k + 1}
May not stop before reaching the final target value P _m .

Therefore, the target value generator 2 uses the target value P _{k + 1.}
The deceleration of the moving target is started immediately before the moving distance of exceeds P _m −P _stop . At that time, since the target value P _{k + 1} generally stops immediately before reaching the final target value P _m ,
The above-mentioned value P _{d while the} moving object is being decelerated
= P _m - by adjusting the (P _stop + P _k), the target value P _{k + 1} can be stopped accurately at the position of the final target value P _m.

In the above-mentioned state, the target value generating device 2 moves to step SP46, determines whether ch flag = 1 and if a positive result is obtained, the target value generating device 2 determines Judged that it was just after the target position was changed,
After moving to step SP47 and setting P _d = 0, it moves to step SP48 and setting ch flag = 0.

On the other hand, in step SP46,
When the target value generation device 2 obtains a negative result, it proceeds to step SP48 as it is and sets ch flag = 0. On the other hand, if a negative result is obtained in step SP43 described above, the target value generation device 2 moves to step SP44 and V
_{k + 1} = V _max , that is, the speed V _{k + 1} at the next time is set as the maximum speed V _max , the constant speed movement is continued, and the process proceeds to step SP48.

In step SP48, the target value generator 2 sets ch flag = 0 and then moves to step SP9 to determine whether stop = 1. If a negative result is obtained, the target value is set. The generator 2 moves to step SP10 and sets k = k + 1, then returns to step SP2 again and starts the operation at the next time. On the other hand, if the target value generating device 2 obtains a positive result in step SP9, the process directly proceeds to step SP11 to end the processing procedure.

(6) Processing in Third State As shown in the processing procedure of FIG.
When entering the processing RT3 in the state (state 3) of
The target value generation device 2 enters the next step SP50 and ch
When it is determined whether or not flag = 1 and a positive result is obtained, that is, when the target value change is requested,
The transfer connexion final target value P _m is changed to P _m 'to step SP57.

At this step SP57, P _m ′ <
P _m -P _d, i.e., the value for adjustment is the final target value P _m 'after the change is set to match the stop position to the final target value P _m during deceleration the final target value P _m before change P
If it is smaller than the value of the difference from _d , the target value generating device 2 moves to step SP58 to set P _d = 0, and the target value generating device 2 moves to step SP51 while keeping the state 3.

In step SP57, P _m -P
_d ≦ P ′ _m ≦ P _m + 2 × V _k , that is, the changed final target value P _m ′ is greater than or equal to the difference between the pre-change final target value P _m and the stop position adjustment value P _d. And is less than or equal to the sum of the final target value P _m before change and the value of the distance 2 × V _k moving between two clocks at constant speed, the target value generation device 2 proceeds to step SP59. Transfer, P _d to P
_The value is changed to _d + (P _m ′ −P _m ), and the target value generation device 2 remains in the state 3 and proceeds to step SP51.

Here, when the degree of change of the target value is small, the target value generating device 2 can adjust the deceleration of the moving object by adjusting the value P _d for the stop position adjustment, Therefore, the target value can be changed.

[0070] In step SP57, P _'m>
P _m + 2 × V _k , that is, the changed final target value P _m ′
Is larger than the sum of the final target value P _m before the change and the value of the distance 2 × V _k moving between two clocks at the time of constant speed, the target value generator 2 moves to step SP60. The start position P _{0 is set} to P ₀ = 2 × P _k −P _m + P _d , that is, the difference between the value twice the target value P _k and the final target value P _m plus the adjustment value P _d. Change and again V _{k + 1} = V
After transitioning to the state 1 so that the acceleration based on _k + A _max can be performed, the target value generator 2 proceeds to step SP51.

On the other hand, in step SP50,
When the target value generating device 2 obtains a negative result, the process directly proceeds to step SP51. Then, in step SP51,
The target value generator 2 has P _k = P _m and V _k ≦ A _max , that is, the target value P _k is the same value as the final target value P _m , and the speed V _k moves during one clock at maximum acceleration. It is determined whether or not the speed is equal to or less than the value of the speed A _{max. When} a positive result is obtained, the process proceeds to step SP61.

In this step SP61, the target value generator 2 decelerates the moving object to the maximum, thereby setting the velocity V _{k + 1} at the next time to V _{k + 1} = 0, and then stop = 1, that is, The moving object is stopped on the assumption that the target value P _k has reached the final target value P _m . Then, the target value generation device 2 moves to step SP56 and sets ch flag = 0.

On the other hand, if a negative result is obtained in step SP51, the target value generating device 2 determines
Move to 52. Subsequently, the target value generation device 2 will perform processing when the target value P _k exceeds the final target value P _m due to the target value change.

In this step SP52, the target value generating device 2 determines that P _k > P _m and V _k −A _max + P _d <0, that is, the target value P _k is larger than the final target value P _m and the maximum acceleration A _max. It is determined whether the speed V _k at the time of deceleration has a negative value or not, and if a positive result is obtained, the process proceeds to step SP62 and the speed V _{k + 1 at the} next time is determined.
Is set to 0, and the start position P ₀ is replaced with the target value P _k , and after transitioning to state 4 so that movement in the direction opposite to the above case can be started, the target value generation device 2 proceeds to step SP56.
, And set ch flag = 0.

On the other hand, if a negative result is obtained at step SP52, the target value generating device 2 determines at step SP52.
Move to 53. Subsequently, the target value generation device 2 adjusts the moving object to the maximum deceleration so that the target value P _k can accurately stop at the final target value P _m .

In this step SP53, the target value generator 2 determines V _k ≤P _d , that is, the velocity V _{k at the} previous time.
Is below the value P _d for the stop position adjustment, and if a positive result is obtained, step SP63
Moves connexion, velocity V _k of the previous time is also a V _k the velocity V _{k + 1} of the next time so that the same speed at the next time to.

After that, the target value generator 2 again performs maximum deceleration, so that the stop position is positioned ahead by the distance V _k that moves during one clock at a constant speed, and accordingly, maximum deceleration is continued. The difference P _d between the stop position and the final target value P _m at that time becomes small. According to this, this P
By replacing _d with P _d −V _k , P _d becomes smaller and smaller. After that, the target value generation device 2 proceeds to step SP.
Move to 56 and set ch flag = 0. On the other hand, if a negative result is obtained in step SP53, the target value generation device 2 moves to step SP54.

In this step SP54, the target value generator 2 has V _{k + 1} + P _d = V _k -A _max + P _d ≤
A _max, i.e., the distance V _{k + 1} and whether the value of the sum of the value P _d for adjustment is equal to or less than the speed A _max to move between a clock at the maximum acceleration that moves between a clock in the constant speed If a positive result is obtained, the process proceeds to step SP64 to set the velocity V _{k + 1} at the next time to V
_The target value P _{k + 1} can be matched with the final target value P _m by replacing _{k + 1} + P _d = V _k −A _max + P _d . After that, the target value generation device 2 proceeds to step SP56.
, And set ch flag = 0.

On the other hand, if a negative result is obtained at step SP54, the target value generating device 2 determines at step SP.
Move to 55. In this step SP55, the target value generator 2 decelerates to V _{k + 1} = V _k -A _max , and then proceeds to step SP56.

In step SP56, the target value generator 2 sets ch flag = 0 and then moves to step SP9 to determine whether stop = 1. If a negative result is obtained, the target value is set. The generator 2 moves to step SP10 and sets k = k + 1, then returns to step SP2 again and starts the operation at the next time. On the other hand, if the target value generating device 2 obtains a positive result in step SP9, the process directly proceeds to step SP11 to end the processing procedure.

(7) Processing in Fourth State As shown in the processing procedure of FIG. 10, when the target value generation device 2 enters the processing RT4 in the fourth state (state 4), the target value generation device 2 Goes to the next step SP70, determines whether ch flag = 1 and when a positive result is obtained, that is, when the target value change is requested, the process proceeds to step SP71 and the final target value P Change _m to P _m ', and then move to step SP72.

On the other hand, in step SP70,
When the target value generating device 2 obtains a negative result, the process directly proceeds to step SP72. Subsequently, the target value generation device 2 regards the value of the maximum acceleration A _max as the distance moved during one clock at the maximum acceleration in step SP72, and sets P _m
−P ₀ ≧ −A _max , that is, the moving distance P of the target value P _k
It is determined whether or not _m −P ₀ is greater than or equal to the negative value of this maximum acceleration A _max .

When a positive result is obtained in step SP72, the target value generating device 2 determines in step SP7.
8, V _{k + 1} = P _m −P ₀ , that is, the speed V at which the moving distance P _m −P ₀ moves as it is for one clock.
_As the distance at _{k + 1} , the movement target transits to state 6. After that, the target value generation device 2 moves to step SP77 and sets ch flag = 0.

On the other hand, in step SP72,
When the target value generator 2 obtains a negative result, the process directly proceeds to step SP73. Then, in step SP73, the target value generation device 2 regards the value of the maximum acceleration A _max as the distance moved during one clock at the maximum acceleration, and P _m
−P ₀ ≧ −2 × A _max , that is, it is determined whether the moving distance P _m −P _{0 of the} target value P _k is greater than or equal to the negative value of this maximum acceleration 2 × A _max .

When a positive result is obtained in step SP73, the target value generating device 2 determines in step SP7.
Moving to 9, the speed V _{k + 1} = −A _max , that is, the speed V _{k + 1} at the next time is set to a negative value of the speed A _max moving during one clock at the maximum acceleration, and at the time of deceleration. As a value for adjusting the stop position, P _d = P _m −P ₀ + A _max ,
The movement target transits to state 6. After that, the target value generation device 2 moves to step SP77 and sets ch flag = 0.

Here, P _d represents how much the target value P _k deviates from the final target value P _{m when} the vehicle is decelerated based on the maximum acceleration A _max . In this case, V _{k + 1} = −A
After moving at _max , when decelerating in state 6, the moving target stops at V _{k + 2} = 0 and velocity 0, so P _d =
P _m -P ₀ + A _max, i.e., the maximum deceleration a difference between the negative value of the distance A _max to move the P _d between 1 clock in the moving distance P _m -P ₀ and the maximum acceleration of the target value P _k The deviation from the target value at

On the other hand, if a negative result is obtained in step SP73, the target value generating device 2 determines
Move to 74. Start process of step SP72 and SP73 described above, the moving distance P _m -P ₀ is very small target value P _k, the moving distance of the target values P _k between 1 clock at the maximum acceleration and the final target value P _m It is performed when it becomes larger than the intermediate position (P _m + P ₀ ) / 2 with _respect to the position P ₀ .

Subsequently, the target value generating device 2 determines that the step SP
At 74, the maximum acceleration speed V _{k + 1} = V _k −
It is determined whether A _max is less than or equal to −V _max , and if a positive result is obtained, the process proceeds to step SP80, where V
_{k + 1} = −V _max , that is, the velocity V _{k + 1} at the next time is set as a negative value of the maximum velocity V _max , and P _stop = P _k −P ₀ ,
_Set V _stop = V _k, and transit to state 5. After that, the target value generation device 2 moves to step SP77 and sets ch flag = 0.

Here, P _stop is the above-mentioned state 4 to state 5
When the moving object in the state of the initial speed 0 is accelerated based on the maximum acceleration A _max , the target value P is reached until the moving object reaches the maximum speed V _{max. k} is the distance traveled. Also, V _stop
Is the speed immediately before the moving object reaches the maximum speed V _max when the moving object is accelerated based on the maximum acceleration A _max . On the other hand, if a negative result is obtained in step SP74, the target value generation device 2 proceeds to step SP7.
Go to 5.

At this step SP75, the target value generating device 2 determines that P _k + V _k -A _max <(P _m + P ₀ ) / 2,
That is, the position P _{k + 1} (= P _k + V _k −A _max ) at the next time when it is assumed that the acceleration is continued in the state 4 is the intermediate position (P P) between the final target value P _m and the start position P _{0. m} + P
₀ ) / 2 or less, and when a positive result is obtained, the process proceeds to step SP81, and the speed V _{k + 1} = V
_k, and the value for adjusting the stop position P _d = P _m −P ₀ −2
× (P _k -P _0), i.e., a minus 2 times the value of the difference between moving a P _d of the target value P _k distance P _m -P ₀ target value P _k and the start position P ₀ from Transition to state 6.

Here, the speed V _{k is set} to V _k −A _k without deceleration, and the speed is set to the same speed as V _k , so that the moving distance until the moving object stops becomes equal to the value of P _k −P _0. Therefore, the calculation of the target value change can be simplified. In this state, the target value generation device 2 moves to step SP82 to determine whether ch flag = 1, and when a positive result is obtained, the target value generation device 2 has changed the target position. Judge that it is just after, and step SP
Move to 83.

In this step SP83, the target value generator 2 sets P _d = 0 so that the moving object can be stopped as soon as possible in the case of deceleration by changing the target value. After that, the target value generation device 2 moves to step SP77 and sets ch flag = 0. On the other hand, if the target value generating device 2 obtains a negative result in step SP82, the process directly proceeds to step SP77 and ch flag is set.
= 0.

On the other hand, when a negative result is obtained in step SP75, the target value generation device 2 moves to step SP76 and continues acceleration with V _{k + 1} = V _k -A _max , and moves to step SP77.

In this step SP77, the target value generating device 2 sets ch flag = 0, then moves to step SP9 and determines whether stop = 1, and when a negative result is obtained, the target value is obtained. The generator 2 moves to step SP10 and sets k = k + 1, then returns to step SP2 again and starts the operation at the next time. On the other hand, if the target value generating device 2 obtains a positive result in step SP9, the process directly proceeds to step SP11 to end the processing procedure.

(8) Processing in Fifth State As shown in the processing procedure of FIG. 11, when the target value generation device 2 enters the processing RT5 in the fifth state (state 5), the target value generation device 2 Goes to the next step SP80 to determine whether ch flag = 1 and when a positive result is obtained, that is, when the target value change is requested, the process proceeds to step SP81 and the final target value P Change _m to P _m ′, and then move to step SP82. On the other hand, in step SP80, the target value generator 2
Obtains a negative result, it proceeds directly to step SP82.

In this step SP82, the target value generator 2 determines that the position P _{k + 1} = P _k -V _max at the next time when it is assumed that the target value generator 2 has moved at a constant speed is P _m + P _stop , that is, the final position. It is determined whether or not the value is equal to or less than the sum of the target value P _m and the above-mentioned moving distance P _stop, and if a positive result is obtained, the process proceeds to step SP85, where V _{k + 1} = V _stop.
As starts deceleration, wherein the value of the sum of the stopping position of the moving object P _stop -P _k and the final target value P _m when the mobile object in the target value P _k is maximum deceleration until the speed becomes 0 Is set as P _d (= P _m + P _stop −P _k ), the state 6
Transition to.

As described above, at the time of deceleration, the pattern is decelerated in a pattern opposite to that at the time of acceleration in the above-mentioned state 4. That is, as the target value generation device 2 decelerates the moving object, the target value generation device 2 is operated at the maximum speed V
After the speed V _{k + 1} at the time next to _max is once set to V _stop , the maximum deceleration of the moving object is started immediately before the moving distance of the target value P _{k + 1} exceeds P _m −P _stop , and the target value P is set. _The moving object is stopped when the moving distance of _{k + 1} reaches P _stop .

At this time, since the target value P _{k + 1} generally stops just before reaching the final target value P _m , the above-mentioned value P _d = P _m + P while the moving object is being decelerated.
By adjusting _stop −P _k , the target value P _{k + 1} can be stopped exactly at the position of the final target value P _m .

In this state, the target value generating device 2 moves to step SP86 to determine whether ch flag = 1, and when a positive result is obtained, the target value generating device 2
Judges that it is immediately after the target position is changed, moves to step SP87 to set P _d = 0 and then moves to step SP84 to set ch flag = 0.

On the other hand, in step SP86,
When the target value generating device 2 obtains a negative result, it proceeds to step SP84 as it is and sets ch flag = 0. On the other hand, if a negative result is obtained in step SP82, the target value generation device 2 moves to step SP83
_{k + 1} = V _max , that is, the speed V _{k + 1} at the next time is set as the maximum speed V _max , the constant speed movement is continued, and the process proceeds to step SP84.

In step SP84, the target value generator 2 sets ch flag = 0 and then moves to step SP9 to determine whether or not stop = 1. If a negative result is obtained, the target value is set. The generator 2 moves to step SP10 and sets k = k + 1, then returns to step SP2 again and starts the operation at the next time. On the other hand, if the target value generating device 2 obtains a positive result in step SP9, the process directly proceeds to step SP11 to end the processing procedure.

(9) Processing in the sixth state As shown in the processing procedure of FIG. 12, when the target value generation device 2 enters the operation processing RT6 in the sixth state (state 6), the target value generation device 2 goes to the next step SP90 to judge whether ch flag = 1 or not, and when a positive result is obtained, that is, when the target value change is requested, the process goes to step SP97 to set the final target value. Change P _m to P _m ′.

At this step SP97, P _m ′>
P _m -P _d, i.e., the value for adjustment is the final target value P _m 'after the change is set to match the stop position to the final target value P _m during deceleration the final target value P _m before change P
If it is larger than the difference from _d , the target value generator 2 moves to step SP98 to set P _d = 0, and the target value generator 2 remains in state 6 and moves to step SP91.

Further, in step SP97, P _m -P
_d ≧ P ′ _m ≧ P _m + 2 × V _k , that is, the changed final target value P _m ′ is less than or equal to the difference between the pre-change final target value P _m and the stop position adjustment value P _d. In the case of, the target value generation device 2 moves to step SP99 and sets P _d to P _d +
(P _m ′ −P _m ), and the target value generation device 2 moves to step SP91 while maintaining the state 6.

Here, when the degree of change of the target value is small as described above, the target value generating device 2 can adjust the deceleration of the moving object by adjusting the value P _d for the stop position adjustment, Therefore, the target value can be changed.

[0106] In step SP97, P _'m <
P _m + 2 × V _k , that is, the changed final target value P _m ′
Is smaller than the sum of the final target value P _m before the change and the value of the distance 2 × V _k that moves between two clocks at constant speed, the target value generation device 2 moves to step SP100 and starts. After changing the position P ₀ to P ₀ = 2 × P _k −P _m + P _d and again transiting to the state 4 so that acceleration based on V _{k + 1} = V _k −A _max can be performed, the target value generation device 2 moves to step SP91.

When the target value generating device 2 obtains a negative result in step SP90, the process proceeds to step SP90.
Move to 91. Subsequently, in step SP91, the target value generation device 2 determines that P _k = P _m and V _k ≧ −A _max , that is, the target value P _k is the same value as the final target value P _m , and the speed V _k is the maximum acceleration. It is determined whether or not the moving speed A _max during one clock is equal to or more than a negative value, and if a positive result is obtained, the process proceeds to step SP101.

In this step SP101, the target value generator 2 decelerates the moving object to the maximum so that the speed V _{k + 1} at the next time is set to V _{k + 1} = 0 and stop = 1, that is, the target value P. _Assuming that _k has reached the final target value P _m , the moving target is stopped. Then, the target value generation device 2 moves to step SP96 and sets ch flag = 0.

When a negative result is obtained in step SP91, the target value generator 2 proceeds to step SP92. Subsequently, the target value generation device 2 will perform processing when the target value P _k exceeds the final target value P _m due to the target value change.

In step SP92, the target value generator 2 determines that P _k <P _m and V _k + A _max + P _d > 0, that is, the target value P _k is smaller than the final target value P _m and the maximum acceleration A _max is reached. Based on the judgment, it is judged whether or not the speed V _k at the time of deceleration becomes a positive value, and when a positive result is obtained, the process proceeds to step SP102, and the speed V at the next time is determined.
_{After k + 1 is set} to 0, the start position P ₀ is replaced with the target value P _k , and after transitioning to the state 1 so that the movement in the opposite direction to the above case can be started, the target value generation device 2 proceeds to step SP9.
Move to 6 and set ch flag = 0.

When a negative result is obtained in step SP92, the target value generator 2 proceeds to step SP93. Subsequently, the target value generation device 2 adjusts the moving object to the maximum deceleration so that the target value P _k can accurately stop at the final target value P _m .

In this step SP93, the target value generator 2 has V _k ≧ P _d , that is, the speed V _{k at the} previous time.
Is greater than or equal to the value P _d for adjusting the stop position, and if a positive result is obtained, step SP10
3 to the transfer connexion, velocity V _k of the previous time is also a V _k the velocity V _{k + 1} of the next time so that the same speed at the next time.

After that, the target value generator 2 is again accelerated to the maximum level, so that the stop position is positioned ahead by the distance V _k that moves during one clock at a constant speed, and accordingly, the maximum deceleration is continued. At this time, the difference P _d between the stop position and the final target value P _m becomes small. According to this, this P _d
By replacing the P _d -V _k, P _d decreases gradually. After that, the target value generator 2 proceeds to step SP9.
Move to 6 and set ch flag = 0. Eventually step SP9
When a negative result is obtained in 3, the target value generation device 2 moves to step SP94.

In this step SP94, the target value generator 2 has V _{k + 1} + P _d = V _k + A _max + P _d ≧ −A
_max , that is, the sum of the distance V _{k + 1} moving in one clock at a constant speed and the value P _d for adjusting the stop position is negative of the speed A _max moving in one clock at maximum acceleration. Is determined to be equal to or greater than the value of V, and if a positive result is obtained, the process proceeds to step SP104 to set the velocity V _{k + 1} at the next time to V _{k + 1} + P _d = V _k + A _max + P
_The target value P _{k + 1} can be matched with the final target value P _m by replacing it with _d . After that, the target value generation device 2 moves to step SP96 and sets ch flag = 0.

When a negative result is obtained in step SP94, the target value generator 2 proceeds to step SP95. In this step SP95, the target value generating device 2 simply sets V _{k + 1} = V _k + A _max and continues to decelerate, and proceeds to step SP96.

In this step SP96, the target value generator 2 sets ch flag = 0, then moves to step SP9 and determines whether stop = 1, and when a negative result is obtained, the target value is obtained. The generator 2 moves to step SP10 and sets k = k + 1, then returns to step SP2 again and starts the operation at the next time. Eventually step SP9
When the target value generation device 2 obtains a positive result in step S11, the process directly proceeds to step SP11, and the processing procedure ends.

(10) Operation of the Embodiment With the above configuration, if the final target value P _m is changed to P _m ′ while the moving object is being controlled for movement, the target value generating device 2 is captures the target value P _k and the velocity V _k of the moving object at time k as a predetermined condition set for each degree of acceleration of the moving object, to shift the moving target in the state to the state corresponding to the target value change Thus, the target value P _{k + 1} of the moving target at the next time _{k + 1}
And the velocity V _{k + 1} are sequentially generated.

Here, when the above-mentioned target value change is performed during acceleration and at constant speed, the target value generator 2 generates the target value P _{k + 1} and the speed V _{k + 1} , and then the target value. By successively continuing the same operation as the operation in each state before the change, the moving target can be stopped at the changed final target value P _m ′.

On the other hand, when the above-mentioned target value change is performed during deceleration, the target value generator 2 generates the target value P _{k + 1} and the speed V _{k + 1} and then decelerates the moving object to the maximum. Also,
Depending on the position where the deceleration of the moving target is started, the moving target cannot always be stopped at the changed final target value P _m ′.

Therefore, when starting deceleration of the object to be moved, the target value generator 2 calculates the deviation between the stop position of the target value P _k at the time of maximum deceleration and the changed final target value P _m ′. The calculated value is stored in advance, and when the speed of the moving object during deceleration reaches a predetermined value on the basis of the stored calculated value, the vehicle travels at a constant speed for one clock to obtain the target value P _k at this time. The difference between the stop position and the changed final target value P _m ′ is calculated and the calculated value is newly stored.

As described above, the target value generating device 2 can gradually reduce the deviation between the stop position of the target value P _k and the changed final target value P _m ′ by repeating the above-mentioned operation, As a result, the movement target can be stopped at the changed final target value P _m ′.

(11) Effects of the Embodiments According to the above configuration, when the target value is changed while the movement target is being controlled for movement, the target value generation device 2 sets the movement target at the current time k. Target value P _k and speed V _k
The target trajectory up to the changed final target value P _m ′ can be generated by performing an operation to sequentially generate only the target value P _{k + 1 at} the next time based on

Thus, in the target value generating device 2, the load of the calculation of the target trajectory generated when the target value is changed is dispersed without being concentrated at one time, so that the calculation amount can be reduced, and accordingly, The processing corresponding to the change of the target value can be performed in the sample clock which is relatively fast.

[0124]

As described above, according to the present invention, when the target value is changed while the movement target is being controlled for movement, 1 is calculated from the current position of the movement target based on the changed target value. By sequentially creating positions after the clock has elapsed, and during deceleration of the moving object, by calculating the deviation between the stop position of the moving object and the changed target value, and then repeating the operation to reduce the deviation, The process corresponding to the change of the target value can be performed relatively easily.

[Brief description of drawings]

FIG. 1 is a block diagram showing an embodiment of a digital position control servo device according to the present invention.

FIG. 2 is a schematic diagram showing a target trajectory when a target value is not changed.

FIG. 3 is a state transition diagram showing a transition of a movement target in changing a target value according to the present invention.

FIG. 4 is a state transition diagram showing a transition of a movement target in changing a target value according to the present invention.

FIG. 5 is a schematic diagram showing a target trajectory when a target value is changed according to the present invention.

FIG. 6 is a flow chart showing the overall processing procedure in the present invention.

FIG. 7 is a flow chart showing a processing procedure of an operation of the target value generation device in the present invention.

FIG. 8 is a flow chart showing a processing procedure of an operation of the target value generation device in the present invention.

FIG. 9 is a flow chart showing a processing procedure of an operation of the target value generation device in the present invention.

FIG. 10 is a flow chart showing a processing procedure of an operation of the target value generation device according to the present invention.

FIG. 11 is a flow chart showing a processing procedure of an operation of the target value generation device according to the present invention.

FIG. 12 is a flow chart showing a processing procedure of an operation of the target value generation device according to the present invention.

[Explanation of symbols]

1 ... Digital position control servo device, 2 ... Target value generation device, 3 ... Servo controller, 4 ... Encoder, 5 ... Motor.

Claims (3)

[Claims] 1. A numerical controller for controlling the movement of a moving object with respect to a target position represented by a set target value, wherein the target value is changed while the moving object is being controlled for movement. In this case, a target value generation device that sequentially generates a position signal after one clock has elapsed from the current position of the moving target based on the changed target value, and a position signal sent from the target value generation device are encoded by a coding unit And a servo control section for servo-driving based on a control signal obtained by matching the output signal sent from the numerical control apparatus. 2. A numerical controller for controlling the movement of a moving object with respect to a target position represented by a set target value, wherein the target value is changed while the moving object is being controlled. In this case, the position after one clock has elapsed is sequentially generated from the current position of the moving object based on the changed target value, and when decelerating the moving object, the stop position of the moving object and the changed target value are A numerical controller characterized in that an operation for reducing the deviation is repeated after the deviation is calculated. 3. A numerical controller for controlling the movement of a moving object with respect to a target position represented by a set target value, wherein the target value is changed while the moving object is being controlled for movement. In this case, the position signal after one clock has elapsed from the current position of the moving object is sequentially generated based on the changed target value, and the position signal transmitted from the target value generation device is output from the encoding unit. A numerical control method characterized in that servo drive is performed based on a control signal obtained by matching the signal.