Patent ID: 7280899
Filing Date: 2007-10-09
Classification: H02P

Abstract:
1. A velocity S-type smooth command generating method, comprising the steps of: computing an accelerating/decelerating basic increment according to a time setting; recording the use of the accelerating/decelerating basic increment; using the basic increment to check whether a velocity command has reached a velocity command reference point, the velocity command reference point being set where an acceleration reaches a maximum; performing an acceleration computation according to a velocity command status after the velocity command reaches the velocity command reference point to generate the acceleration; and generating a velocity S-type smooth command according to a velocity difference of the velocity command and the acceleration; wherein the step of checking whether a velocity command has reached a velocity command reference point includes the step of determining whether the velocity is greater than a predetermined value, where the predetermined value is a difference between a target value which the velocity command is going to reach and a relative value, the relative value being half the product of the acceleration and a counting value.