| 摘要 |
PROBLEM TO BE SOLVED: To provide an angle controller having a peak-speed selfdiagnostic function for preventing erroneous detection even when the deceleration of angular acceleration caused by the increase of friction torque is observed. SOLUTION: It is detected by an angular acceleration discrimination part 14 that the angular acceleration detected by an angular acceleration detector 13 becomes zero, the result is outputted and at a 1st constant speed region discrimination part 15, a signal is outputted to a peak speed discrimination part 11 by discriminating constant speed while receiving this signal. At the peak speed discrimination part 11, the angular velocity detected by an angular velocity detector 2 is sampled and compared with the value of preset peak speed at the time point when the signal reporting the constant speed is received from the 1st constant speed region discrimination part 15 and when these values are equal, normality is judged but when they are not equal, abnormality is judged so that self-diagnosis can be executed. |
