Patent ID: 8600527

Claim:
An acceleration and 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 first target velocity according to an acceleration command curve, the acceleration and deceleration control device comprising: a command generating unit that generates an acceleration command curve for providing the command acceleration, and generates an acceleration reduction curve when a target-velocity change command is input during acceleration, wherein the target-velocity change command inputs a value of a second target velocity different from the first target velocity; 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 second 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.