| 摘要 |
The present invention provides a method for operating a duplexed controller, in which whether a controller is malfunctioned is determined by monitoring a state of a duplexed controller, and a normal control is allowed to perform an operation. The method for operating a duplexed controller according to an embodiment of the present invention includes the steps of: dq-converting control instruction output values of first and second controllers; calculating change rates of the dq-converted values for the control instruction output values of the first and second controllers; dq-converting feedback input values fed back to the first and second controllers; calculating average change rates of the dq-converted values for feedback input values of the first and second controllers; determining that the first controller is in a normal state when the average change rate of the dq-converted value for the control instruction output value of the first controller is equal to the average change rate of the dq-converted value for the feedback input value of the first controller, and determining that the first controller is in a failure state when the average change rate of the dq-converted value for the control instruction output value of the first controller is different from the average change rate of the dq-converted value for the feedback input value of the first controller; determining that the second controller is in a normal state when the average change rate of the dq-converted value for the control instruction output value of the second controller is equal to the average change rate of the dq-converted value for the feedback input value of the second controller, and determining that the second controller is in a failure state when the average change rate of the dq-converted value for the control instruction output value of the second controller is different from the average change rate of the dq-converted value for the feedback input value of the second controller; and setting a controller in a failure state as standby and a controller in a normal state as active according to a result of the determination. |
