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Abstract

An acceleration/deceleration control apparatus for servo control is provided, which is capable of securely restraining vibration of servomotors for use as drive sources for various machines. The acceleration/deceleration control apparatus comprises acceleration/deceleration control sections as many as servomotors mounted in a machine, and each acceleration/deceleration control section includes first to third acceleration/deceleration filters each composed of a predetermined number of delay units and connected in series with one another. The first to third filters deliver outputs (Pb, Pc, Pd) to a corresponding one of the second and third filters and a servo circuit, each of the outputs being obtained by dividing the sum of stored values of the delay units of each filter and a corresponding one of a commanded speed (Pa), a first output (Pb) and a second filter output (Pc) by the sum of a value of '1' and the number of units. The discontinuity of primary and secondary derived functions (acceleration and jerk) of the first filter output (Pb), caused during the acceleration/deceleration process (.tau.), is removed by acceleration/deceleration processes in the second and third filters.

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