Acceleration/deceleration control device

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.