Method of determining permissible speed of an object and controlling the object
AssigneeMitsubishi Denki Kabushiki Kaisha
InventorTomonori Sato
Life of this patent
Estimating the term…
Abstract
Command path and command speed within a predetermined range are read. The predetermined range is time required for the object to move between two points on the command path. Speed command for each time is temporarily generated based on the read command path and the command speed. Frequency component that corresponds to mechanical vibration due to movement of the object and that is included in a speed command for the each time is calculated. Speed at which the frequency component becomes equal to or smaller than a preset reference value is determined as the permissible speed. Moving speed of the object is controlled so as not to exceed the calculated permissible speed.
Claims15
A method for determining a permissible speed of an object moving along a command path at a specific point or a specific region on the command path, the method comprising:
- reading command path and command speed within a predetermined range, the predetermined range being a time required for the object to move along the command path from the specific point or the specific region or a distance for which the object moves along the command path from the specific point or the specific region;
- temporarily generating a speed command for each time based on.the read command path and the command speed;
- calculating a frequency component that corresponds to mechanical vibration due to the movement of the object and which is included in a speed command for the each time;
- and
- calculating the permissible speed at which the frequency component becomes equal to or smaller than a preset reference value.
A speed control apparatus, which controls moving speed of an object based on a permissible speed at a specific point or a specific region on a command path, comprises a permissible speed decision unit, the permissible speed decision unit
- reads the command path and a command speed within a predetermined range, the predetermined range being a time required for the object to move from the specific point or the specific region or a distance for which the object moves from the specific point or the specific region,
- temporarily generates a speed command for each time based on the command path and the command speed,
- calculates a frequency component that corresponds to mechanical vibration and which is included in a speed command for the each time, and
- calculates the permissible speed at which the frequency component becomes equal to or smaller than a preset reference value.
A speed control apparatus that controls moving speed of an object based on a permissible speed, the apparatus comprising:
- a reading unit that reads command path and command speed within a predetermined range, the predetermined range being a time required for the object to move along the command path from the specific point or the specific region or a distance for which the object moves along the command path from the specific point or the specific region;
- a speed command generation unit that temporarily generates a speed command for each time based on the read command path and the command speed;
- a frequency component calculation unit that calculates a frequency component that corresponds to mechanical vibration due to the movement of the object and that is included in a speed command for the each time;
- and
- a permissible speed calculation unit that calculates the permissible speed at which the calculated frequency component becomes equal to or smaller than a preset reference value;
- an object control unit that controls the moving speed of the object so as not to exceed the calculated permissible speed.
Dependencies are inferred from the claim text.