Speed adjustment control method

A speed adjustment method, comprising:

• a process of determining an amount of variation in speed [ΔV(a/d)] from a data table of |command speed (VS)−initial speed (V0)| and speed adjustment time [t(a/d)];
• a process of determining number of divisions [cv(a/d)] of |command speed (VS)−initial speed (V0)| by dividing |command speed (VS)−initial speed (V0)| by the amount of variation in speed [ΔV(a/d)];
• a process of determining number of divisions [CT(a/d)] of the speed adjustment time by subtracting 1 from the number of divisions [cv(a/d)] of |command speed (VS)−initial speed (V0)|;
• a process of determining an interval of speed variation [Δt(a/d)] by dividing the speed adjustment time [t(a/d)] by the number of divisions [CT(a/d)] of the speed adjustment time;
• a process of determining, during acceleration, speed by adding the amount of variation in speed [ΔV(a)] to the initial speed (V0), and determining subsequent speed at each speed variation interval [Δt(a)] by adding the amount of variation in speed [ΔV(a)] to previously determined speed;
• a process of switching over to the command speed (VS) when the speed determined is equal to the command speed (VS);
• and
• a process of determining, during deceleration, speed by subtracting the amount of variation in speed [ΔV(d)] from the command speed (VS) or current speed, and determining subsequent speed at each speed variation interval [Δt(a)] by subtracting the amount of variation in speed [ΔV(d)] from previously determined speed.