Patent ID: 6859752

Claim:
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 (V 0 )| and speed adjustment time [t(a/d)]; a process of determining number of divisions [cv(a/d)] of |command speed (VS)−initial speed (V 0 )| by dividing |command speed (VS)−initial speed (V 0 )| 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 (V 0 )|; 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 (V 0 ), 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.