JPH02219113A - Method for controlling movement of movable body - Google Patents

Abstract

PURPOSE:To control the movement of a moving body at low cost with good controllability by performing acceleration control after the start of operation, starting constant-speed control at a proper point of time after acceleration when necessary then moving to speed reduction control at a specific point of time. CONSTITUTION:A set total movement distance is denoted as D, a set ideal movement time as T, time in a certain stage during control as ti, the current movement distance of a moving body from a movement start position as di, and the moving speed as upsiloni. In this case, the acceleration control is performed after the operation start, the constant-speed control is entered at the proper point of time after the acceleration at need, and the speed reduction control is moved in when an equation I holds for ti, di, and upsiloni. Therefore, the point of time of the movement from the acceleration or constant-speed control to the speed reduction control is changed according to variation in load or torque without being made coincident with an ideal speed profile unreasonably and a speed reduction curve is set according to the quantities and times of accelerations and equal-speed movements so that the movement distance and moving time reach target values finally. Consequently, large variance in motor output torque and large variance in load are permitted to realize a control system which has low power consumption and good efficiency.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention provides a method for moving movable objects such as various scanners,
The present invention relates to a method of controlling the movement of a movable object such that it is moved by a preset distance in a preset moving time.

[Conventional technology]

Various servo control methods have been used to control the movement of such movable objects, and these are the following three types.
Broadly divided into types.

(1) Analog servo For example, as seen in Japanese Unexamined Patent Publication No. 63-5762, an analog servo loop is formed to feed back the current position and speed information of a movable body, and the speed at each moving distance is stored in memory. The instruction value is stored and output to the analog servo loop to control the movement of the movable body.

(2) Digital servo For example, as seen in Japanese Unexamined Patent Publication No. 63-49904, the analog servo loop in the analog servo described above is changed to a digital servo loop, and data of speed instruction values is also stored in memory. , which is output to a digital servo loop to control the movement of the movable body.

(3) A type of software servo digital servo that uses a digital computer as one element of the servo loop. Generally, a method is used to change the current value to the motor using PWM (pulse width modulation), which is compatible with digital control, but conventionally, the time-speed curve (profile) at which the object should move at each movement stage is specified in advance. D, the commanded speed (duty in PWM) is determined from the deviation between the target speed and actual speed at each stage.
was calculated and output to the motor drive unit.

[Problem to be solved by the invention]

In the above-mentioned analog servo, the motor rotation is determined from the frequency of an analog subtracter (operational amplifier, etc.), a D/A converter that converts the speed instruction from a digital computer into an analog signal, and a rotation detector such as a photo encoder attached to the motor shaft. There is a problem in that the cost is high because many analog circuits are required, such as an F/V converter to obtain speed.

Digital servo replaces analog circuits with digital circuits, so although it is lower in cost than analog servo, it does require hardware such as counters and digital subtracters.

Software servo has the lowest hardware cost among the three types of servo control described above.

However, what is common to the conventional servo control described above is that an ideal profile is obtained in advance and stored in a memory within the system, and the movement of the object is controlled so as to approach the ideal profile.

However, especially in the case of software servo, since the digital computer is included in the servo loop, the processing time of the digital computer may cause system delays and D
Furthermore, it is not possible to sufficiently follow fluctuations in the power supply voltage and variations in the motor torque constant, resulting in large variations in travel time and unstable operation.

Therefore, even if control is performed based on the ideal profile as shown by the solid line in Figure 15, the actual motion of the object often deviates significantly from the ideal profile as shown by the broken line in Figure 15. was there.

This invention solves the above-mentioned problems in a software servo that uses such a digital computer as an element of the system and controls the movement of the system using a program. The purpose is to provide a method.

[Means to solve the problem]

In order to achieve the above object, this invention moves a movable object to a DC
It is moved by a motor, and the rotation of the DC motor is feedback-controlled using a digital computer.
In a method for controlling the movement of a movable object, the movable object is moved by a preset distance in a preset moving time.

The set total travel distance is D, the set ideal travel time is T,
The time at a certain stage during control is t4. The moving distance of the movable object from the starting position at that time is d L e The moving speed is u
When t, acceleration control is performed after the start of operation, and if necessary, transition to constant speed control at the time of acceleration and retreat, and the conditional expression where tt, -di, and OL are Ddt"-υL (T-tL) It is characterized by shifting to deceleration control when the condition is satisfied.

In addition, in this movement control method of a movable object, during deceleration control, tL when the above conditional expression is satisfied.

If yL is tc and tPc, then the ideal position do at each stage is 2(T-tc), and if dtjdo, a negative speed instruction is given, -di<do
If so, it would be a good idea to give a positive speed instruction.

Furthermore, if the speed instruction during this deceleration control is Vt, the value is calculated by V L = C1 + CZ ''ut (CI, c! is a constant).

When there is a positive speed instruction, C1>0 When there is a negative speed instruction, C1 is 0. It is better to make it .

In addition to these, by adding the requirements described in claims 4 to 9, it is possible to realize more accurate movement control of a movable object.

[For production]

The movement control method of a movable object according to the present invention does not control the object (movable object) so that it always approaches an ideal profile, as in conventional software servo control, but the control results are shown in FIG. Three curves a, b,
As illustrated in Q (for example, a solid line imaginary profile), the ideal travel time T for which the travel time is set
When D, the travel speed υ becomes 0, and the area of the trapezoid surrounded by each curve is the total travel distance MD (
It is controlled so that it remains constant.

For this purpose, the time point at which acceleration or constant speed control shifts to deceleration control is changed so as to satisfy the above conditional expression.

Therefore, at a certain point during acceleration or constant speed (1+ υ)
To determine whether to issue a deceleration instruction, the area of the trapezoid (triangle if constant speed control is not performed) when a straight line is drawn from that point to the point (T, O) is the target total travel distance. Judgment is made based on whether it is equal to or not.

Then, after shifting to deceleration control, it is sufficient to perform deceleration control along the above-mentioned straight line.

The details of the operation of the method for controlling the movement of a movable object according to the present invention will be described in the description of the embodiments.

〔Example〕

Embodiments of the present invention will be specifically described below with reference to the drawings.

FIG. 2 is a block diagram showing an example of the configuration of a servo system to which the method for controlling the movement of a movable object according to the present invention is applied.
The figure is a schematic diagram showing an example of a movable object moving mechanism using a DC motor.

In FIG. 2, reference numeral 1 denotes a memory that stores the target distance, which is the set total travel distance, the target time T, which is the ideal travel time, and various constants necessary for control.

Reference numeral 2 denotes a digital computer D having a PWM control function, which outputs a duty PWM signal corresponding to the indicated speed to the motor control circuit 3 together with a direction indicating signal.

The percussion circuit 3 causes a DC motor (hereinafter also simply referred to as "motor") 4 to rotate by passing a current according to the duty of the input PWM signal in the direction indicated by the direction signal, thereby moving the movable object. (hereinafter simply referred to as "object")
5) in the specified direction.

A photo encoder 6, which is a rotation detector, is attached to the rotating shaft of the motor 4. Two sets of pulse trains φA and φB having different phases by 90''' are outputted from the photo encoder 6.

These pulse trains φA and φB are converted through the clock generation/direction determining circuit 7 into a number of clocks corresponding to the moving distance of the object 5 and a direction signal (1-bit signal) whose logic is set according to the moving direction. , its clock and direction signals are input to the digital computer 2.

The digital computer 2 outputs a PWM signal with a certain duty to the drive section 3 as appropriate speed instruction information based on the input clock number and direction signal.

The motor 4 includes pulleys 8 and 9, as shown in FIG. 3, for example.
By rotating the wire 10 stretched between them, the object 5 attached to the wire 10 is brought into contact with one of the dampers 11 fixed at a distance corresponding to the target distance. It is moved in the direction of the arrow from the starting end position where it contacts the other damper 12 to the end position where it contacts the other damper 12.

In this embodiment, the width of the PWM signal is indicated by 8-bit data (0 to 256).

Therefore, duty = 100% is r256J.

Duty=0% becomes "0".

PWM (Pulse Width Modulation) is a modulation method that changes the time ratio of H level and L level during one cycle without changing the time of one cycle (basic cycle), as shown in Figure 4. D. The ratio of active level (H level in the illustrated example) during one cycle is called duty.

In this example, the duty is determined and set every III seconds. This timing is called a stage.

This stage number represents the time from the start of the operation, and is defined as time 1 in the stage.

In stage i, the number of pulses from the photo encoder 6 is regarded as the movement ratio Jil-di, and the movement ratio from the previous stage is 11dt.
-d Let t-1 be the current speed υL. Originally, υt”
(d L −d t−x )/ (t t t i−
1), but in this example tt-tL-x = 1ms
This is because it is always constant at ec.

When the object 5 is stopped, a PWM signal with a duty of "24" is output from the digital computer 2 to the drive unit 3, and the damper 11 fixed at the end of the movement range shown in FIG.
Or object 5 is pressed against 12.

Here, first, it is pressed against the damper 11 on the left side in FIG.

Then, at the start of operation, ti=0. After setting −di=0,
The logic of the direction instruction signal sent from the digital computer 2 to the drive unit 3 is reversed, and a PWM signal of the duty r160J is output in order to provide maximum acceleration.

When acceleration starts, it is constantly judged whether the maximum speed of 2.5 m/sec has been reached, and when the maximum speed has been reached, the duty of the PWM signal is set to rE281 to maintain the maximum speed and perform constant speed control.

In the constant speed state at the maximum speed, during operation [If you shift from the current moment to constant acceleration deceleration, the target ratio @D will be reached at the set target time T.
Find the point where the velocity becomes exactly 0 when it reaches .

This means that the aforementioned tL and dt+υt are D −d L =-υ4(TtL)...
It is expressed by satisfying ■. This can be derived from Figure 5.

If the time tLtttc is the point at which the transition to deceleration occurs, and the speed υi at that time is υc, then the straight line of deceleration in Fig. 5 is D, and the untraveled distance is D d L = Di ('r-t
c).

Therefore, if tt and υLy-di satisfy the relationship of formula 0 or formula 0, the target 5
D, when decelerating, it is sufficient to give a speed instruction to the 0 type or to approach the 0 type.

Here, the 0 formula using tt e d L, which is easy to calculate, is used, but it goes without saying that the 0 formula or a modified form thereof may be used for control.

If do is the ideal d= that satisfies the formula 0 when tj is given, then the relationship between this dO and the actual distance traveled is D, and if -di≧do, then the speed is negative because it has gone too far. Give an instruction, for example, duty=-50+υL/4.

If -di<do, it will not move, so give a positive speed instruction, for example, duty = 24 + υt / 4.

If the general formula for speed instruction is Vi=Ct+Cz・υL, then CI + C2 is a constant D, and C for positive speed instruction.
1>O*When a negative speed instruction is given, set C1>O.

The second term of this speed instruction, that is, the duty, is a motor back electromotive force compensation term D, which is a term proportional to υt since the back electromotive force is proportional to the speed.

Object 5 has target ratio i! Just before stopping when you are close enough to D,
yo=Cs (D-dt)...
・As ■, if υL≧υ0, it goes too far, so set the negative speed instruction Vt as 1, for example, duty=-36, and if tpL<yo, it won't go over, so set it as a positive speed instruction V.
For example, a duty of 24 is given as L. C3 is a constant and is 1, for example, 1/8.

If di=D in this control state, duty=24
The object 5 is pressed against the damper 12 and stopped.

After that, hold it in a stopped state while pressing it.

By the way, in general, delays in the electrical system and mechanical system overlap, resulting in a delay from when a speed instruction is given until it is reflected in the behavior of the controlled object.

So, suppose this delay is for n stages.

When determining the speed instruction Vt at stage t, n is the moving distance.
Using the estimated value of the future stage -di+n, the estimated value -di
+n -d L sd t-t #a t-
It is desirable to obtain it as a function of two or more of z m"""ad L-+s (n and m are integers).

For example, this estimated value di+n.

d inn = C41d i +C5・d L
-m (C4+ Cs is a constant) Similarly, when calculating the speed instruction vL at stage i, use the estimated value of the future stage i + k as the speed, and calculate the estimated value υink as υi, υt-1+ C i-2.・・・・・・υ
It is desirable to obtain it as a function of two or more of t-g (k* 41 is an integer).

For example, the estimated value υ4+l(k-stage future).

廿4+1(=C6・υt+c7・−di−處(Cs,
C7 is a constant).

In this embodiment, a time delay of two steps occurs in the system, so to compensate for this delay, the estimated distance dt+2 and the estimated speed ? 7t÷2 as d L+2 ==2d L -d L-2...
■νL+1=2υ is also calculated using 1υi−2...■.

In the descriptions so far, -di and u4 have been used for simplicity.
2. νi◆2 is applied.

For example, the timing of transition from constant speed to deceleration is conditional on satisfying the above-mentioned formula 0, but in this embodiment, tL and d = ÷ 2 according to formulas ■ and ■. When υt+2 satisfies the following equation (■'), a deceleration instruction is issued.

D-dH+z= ut+z(T tL) −
(D' And this effect appears after about 2 steps, 2
After the stage, the object 5 starts to decelerate. In the same way, formulas (1) and (2) are applied throughout the operation.

The meaning of the above-mentioned formula 0 is to find the ideal deceleration curve (profile) by calculating the deceleration start timing according to variations and fluctuations in the system load, etc.

That is, in FIG. 1, the control results according to this embodiment are shown by three curves a, b, and c, and the area of the trapezoid surrounded by each curve is the target distance D, which is constant.

The moving distance di to the deceleration transition point and the subsequent moving distance 111Ddt under this control are expressed by the areas of the hatched portions in FIG. 5, respectively.

Under this premise, the judgment as to whether or not to enter a deceleration instruction at a certain point (tsu) during constant speed is to draw a straight line from that point to the point (t eu ) = (T w O), as shown in Figure 6. All you have to do is find the point where the area of the trapezoid when subtracting D is equal to D. It turns out that this point can be found uniquely.

For example, in FIG. 7, although there are various possible straight lines to the point (to 廿)=(T, O), there is only one straight line whose trapezoid area is D.

In the above explanation, we considered the condition of "a certain point at a constant speed," but in principle it does not have to be a constant speed. As shown, even if the speed changes, a straight line with area D can be found uniquely.

After determining the point in time to shift to deceleration, if the object is decelerated so that it moves along this straight line, the object can be stopped at a position where it has moved by the target distance at the time of the total movement time T.

In this embodiment, trapezoidal speed control of acceleration→constant speed→deceleration has been mainly described, but the same idea can be applied to triangular speed control of acceleration→deceleration.

Furthermore, the present invention is applicable not only to PWM control but also to digital servo control in which the speed is directly instructed to the drive section 3.

Here, the effects of this embodiment will be further explained with reference to FIGS. 10 to 12.

FIG. 10(A) is a diagram in which the conventional control method is used to control the speed pattern according to the ideal profile speed pattern with a solid line, and the actual movement with a dashed-dotted line.
Figure (b) shows the voltage waveform during operation.

Figure 11 shows a case where the actual movement shown by the dashed line does not follow the speed pattern shown by the solid line due to an increase in load or a decrease in motor output torque. , it is not possible to move the distance (area in the figure) determined by the determined time: T.

Therefore, in the case of the control shown in Figure 10, the acceleration capacity of the motor needs to be large enough to handle load variations. It is necessary to take measures such as increasing the

Furthermore, when controlling according to a speed pattern in order to increase the acceleration capability, it is necessary to apply negative power during acceleration as shown in FIG.

FIG. 12(a) is a speed waveform diagram when the present invention is implemented, and FIG. 12(b) is a voltage waveform during the operation.

As can be seen from FIG. 12, since control is not performed according to the speed pattern during acceleration, unnecessary negative power is not consumed.

In addition, the deceleration curve is set so that the final travel distance and travel time are constant according to the acceleration and constant velocity travel distance and travel time, so variations in motor output torque and load can be largely tolerated. It is possible to realize an efficient control system with low power consumption.

Next, an example of an actual bird in which the method of controlling the movement of a movable object according to the present invention is applied to scanner sleep control of a barcode printer will be described.

The reason why PWM is used to drive a DC motor is because the power transistor of the driver (drive unit 3 in Fig. 2) operates only when it is ON or OFF, so power consumption is low, and because it is compatible with digital control (software control). This is because they are compatible.

For example, μPD is used as the digital computer 2 in FIG.
78312 and its PWM output port has a basic period of 42.7 psec (23.4 klk).

It is used with a duty resolution of 8 bits (0 to 256).

In addition, in order to enable CW/CCW rotation with a single power supply, a port DIR indicating the rotation direction is provided, and the DIR and P
The combination of values written to the WM register controls the forward/reverse rotation and power of the motor.

Therefore, if this combination is expressed as a value of duty from the relationship of the vestibule, the applied voltage to the DC motor can be expressed as follows: (Eb is the motor power supply voltage) D, and the applied voltage to the motor can be controlled.

In this control method, the manipulated variable is not continuously changed during the scan time; for example, once the manipulated variable is determined once every 1 m5ec, the manipulated variable does not change (hold) until another 1 m5ec has passed.

This operation once every 1 m5ec is called 1 stage operation, and 120 stages of operation are performed in 120 mtsec.

Before starting scanning, a small-duty PWM signal is output to the drive unit 3 shown in FIG. 2 to press the scanner against the block at the stopping point.

During the scan, the current position di is determined for each stage, and the difference from the value one stage before is defined as the current speed u (the current speed u). The three control modes are changed depending on the values of dt and tPL.

Mode 0: Acceleration mode 1: Constant acceleration Deceleration mode 2: Stop The reason for dividing the mode in this way is that the control is not controlled to approach a fixed ideal speed curve (profile), but rather the scan is controlled according to the state during acceleration. This is to increase the margin against parameter fluctuations by calculating the ideal curve for each time.

For example, with respect to the ideal speed curve shown by the solid line in Fig. 13, if the motor torque or voltage is large and the acceleration is large, the curve will change to D as shown by the broken line. If the acceleration is small, such as when the acceleration is small, the curve will be as shown by the dashed line.

However, in either case, it is possible to control the target to move by a target distance (scan distance) D and then stop within the target moving time T.

Immediately after the start of scanning, the mode is O, which accelerates at a constant duty (duty = 160) and reaches a maximum speed of 2.5 m/see.
If it exceeds, reduce the duty (duty = 12
8) and maintain maximum speed.

It is sufficiently accelerated in mode 0 and this state (position.

If the speed is decelerated at a constant acceleration from the speed of 2 hours), when the speed reaches O at the target position at the target time, move to mode 1. The condition for moving from mode O to mode 1 can be expressed as follows: D-dt=-廿t(T-tt), where D is the scan distance and T is the scan time (
Both are constants), so the left side of the above equation is the current remaining distance, and the right side is the deceleration from the current speed at a constant acceleration, and the time T
This is the distance it would travel if its speed was O.

Mode 1 is uniform acceleration and deceleration. If the time when mode 1 is entered is tc, and the speed at that time is υc, the target speed uo,
The target position do is 'rtt - tc do = D - uo (T - t t), respectively, and the actual speed Dt and position di are υo and t.

Give the following duty so that it approaches .

If -di > do, -50 + (1/4) utdt If do, then 24 + (1/4) υ seven points D, if it goes beyond the target, it decelerates, and if it does not reach the target, it accelerates. , the second term +(1/4)pi is for compensating the back electromotive force (proportional to the speed) of the DC motor.

Approach the target position while being sufficiently decelerated in mode 1, and D
When it enters the vicinity of , it shifts to mode 2.

In mode 2, in order to stop smoothly without colliding with the opposite block, the speed just before stopping is set to 178, which is the remaining distance, and the duty is given so that υt=(D dt).

If ut> (D di), duty=-36u
If t< (D-dt), d u t y==24
There is some delay between changing the duty and its effects becoming cursed. The value of the velocity 9 position used for control in order to compensate for this delay is a predicted value of the value after two stages. If the velocity 1 position at stage n is υn and dn, the predicted value after 2 stages is un+2
．． dn÷2 is.

Control is performed using the predicted value after two stages, which is υn''Z=21Pn-Shn-2 dn◆2=2dn-dn-2.

For example, if the current mode is 1 at the 50th stage, the speed and position of the 52nd stage are determined using the above prediction formula, and compared with the target speed and position at the 52nd stage to determine the duty.

Note that although the constants and duties in each of the above-mentioned formulas are changed at each stage of evaluation, examples of final values are shown.

Figures 14 (a) to (c) show that the fluctuations (variations) of the load and motor in this embodiment are measured by the fluctuations (2) of the power supply voltage Eb.
4V, 30V, 36V) is shown.

In addition, as a unit of time, 1 gtage = 1 m5e
c as the unit of distance: 1apc = 0.0127mm
(The unit of speed is apc/stage).

This is an example of triangular drive, but without forcing it to match an ideal triangular profile, despite voltage fluctuations,
It can be seen that the target scan distance 1 (the area surrounded by the profile matches the area of the ideal triangular profile shown by the broken line) is moved in the target scan time.

〔Effect of the invention〕

As explained above, according to the present invention, the point of transition from acceleration or constant speed control to deceleration control is changed according to fluctuations in load and torque without forcing it to match an ideal speed profile, and the deceleration curve is Since the final travel distance and travel time are set to the target values according to the acceleration and constant velocity travel distance and travel time, variations in motor output torque and load can be largely tolerated, resulting in low power consumption. An efficient control system can be realized.

[Brief explanation of the drawing]

FIG. 1 is a diagram showing different control results according to an embodiment of the present invention using three curves. FIG. 2 is a block diagram showing an example of the configuration of a servo system to which the method of controlling the movement of a movable object according to the present invention is applied. FIG. 3 is a schematic diagram showing an example of a movable object moving mechanism using a DC motor, and FIG. 4 is a waveform chart showing an example of a PWM signal. Figures 5 to 9 are diagrams for explaining the effects of this embodiment, Figures 10 to 12 are diagrams for explaining the effects of this embodiment, and Figure 13 is a diagram for explaining the effects of this embodiment. 14A to 14C are diagrams for explaining the effect of the embodiment applied to scanner tapping control of a barcode printer; FIGS. 14A to 14C are diagrams showing control results at different power supply voltages according to this embodiment; FIGS. FIG. 15 is a diagram for explaining the problems of the conventional software servo. 1...Memory 2...Digital computer 3...Drive circuit 4...DC motor 5...
Movable object (target object) 6... Photo encoder (rotation detector) 7... Clock generation/direction determination circuit 8.9... Pulley 10... Wire 11.12.
...Dumper applicant Rico Co., Ltd. - Figure 1 Figure 2 Figure 7 ν Time (1 tag) (8) Time [Ta6] Figure 10 Figure 12 Figure 11 Figure 13 Figure 15

Claims (1)

[Claims] 1. A movable object is moved by a DC motor, and its DC
A method for controlling the movement of a movable object in which the rotation of a motor is feedback-controlled using a digital computer to move the movable object by a set distance in a preset travel time, wherein the set total moving distance is D, and the set ideal When the movement time is T, the time at a certain stage during control is ti, the movement distance of the movable object from the movement start position at that time is di, and the movement speed is υi, after the start of the operation, acceleration control is performed and as necessary. After acceleration, the system shifts to constant speed control at an appropriate point, and shifts to deceleration control when the above ti, di, and υi satisfy the conditional expression D-di=[(1/2)υi](T-ti). A method for controlling the movement of a movable object, characterized in that: 2. The method for controlling the movement of a movable object according to claim 1,
During deceleration control, ti, υi when the above conditional expression is satisfied
are respectively tc and υc, the ideal position d at each stage is
do = D-[υc(T-ti)^2]/[2(T-tc
)], a negative speed instruction is given if di≧do, and a positive speed instruction is given if di<do. 3. In the method for controlling the movement of a movable object according to claim 1 or 2, if the speed instruction during deceleration control is Vi, then V
i=C_1+C_2・υi (C_1 and C_2 are constants), and when there is a positive speed instruction, C_
1>0, and when a negative speed instruction is given, C_1<0 is set. 4. In the movement control method for a movable object according to any one of claims 1 to 3, after the movable object has sufficiently approached the set total movement distance D, if υi≧C_3(D-di), a negative speed instruction is given. vi<C
If _3(D-di), give each positive speed instruction (
(where C_3 is a constant). 5. In the movement control method of a movable object according to any one of claims 1 to 4, after the movable object reaches the total movement distance D, the movable object is pushed to a stopping point by a speed instruction of a constant value. A method for controlling the movement of a movable object, characterized by maintaining a stopped state by: 6. In the movement control method of a movable object according to any one of claims 2 to 5, when obtaining the speed instruction Vi at stage i, an estimated value di+n of n stages in the future is used as the moving distance,
Let the estimated value di+n be di, di-1, di-2, ・
..., di-m (n, m are integers) as a function of two or more of the following. 7. The method for controlling the movement of a movable object according to claim 6,
The estimated value di+n for the n-stage future is di+n=C_4・di+C_5・di−m(C_4,
C_5 is a constant). 8. In the movement control method for a movable object according to any one of claims 2 to 7, when obtaining the speed instruction Vi at stage i, an estimated value vi+k of k stages future is used as the speed, and the estimated value vi+k is set as vi, vi-1, vi-2,...
. . , vi-l (k, l are integers) as a function of two or more of the following. 9. The method for controlling the movement of a movable object according to claim 8,
The estimated value vi+k of the k-stage future is vi+k=C_6・vi+C_7・di−l(C_6,
C_7 is a constant).