| 摘要 |
<p>PURPOSE:To prevent unnecessary abnormality processings such as driving stop of a mechanism system and to always control the mechanism system within the rating by providing an abnormality discriminating means which discriminates the abnormality of the mechanism system when the limit state in a manipulated variable control means continues over a prescribed time. CONSTITUTION:A manipulated variable determining means 2 determines always a manipulated variable (u) based on a state variable (x) fed back from a mechanism system 1, and driving of the mechanism system 1 is controlled by the determined manipulated variable (u). If the manipulated variable (u) determined by the manipulated variable determining means 2 exceeds a preliminarily determined range by the change of the feedback state variable (x), a manipulated variable limiting means 3 limits a base manipulated variable of control. If the change of the manipulated variable (x) is caused by the abnormality of the mechanism system 1 and the manipulated variable (u) determined by the manipulated variable determining means 2 exceeds continuously the preliminarily determined range, the limit state in the manipulated variable limiting means 3 continues, and an abnormality discriminating means 4 discriminates the abnormality of the mechanism system 1 if this state continues over a prescribed time.</p> |
