| 摘要 |
PROBLEM TO BE SOLVED: To realize a diagnostic function without an erroneous detection by a method wherein a current value which flows to a motor is compared with the output of a current multiplier and whether a control apparatus is normal or abnormal is judged according to their comparison result. SOLUTION: An angular velocity which is detected by an angular-velocity detector 2 and the counterelectromotive force constant value of a motor 1 are multiplied by an angular-velocity multiplier 14, and the output of a speed deviation amplifier 7 and the resistance value of the motor 1 are multiplied by a current-command multiplier 15. The sum of their multiplied values is output to a power-amplifier simulation part 17, the output voltage value of a power amplifier 10 is added to an output limitation characteristic by the power amplifier simulation part 17, and the deviation between its output and the angular velocity multiplier 14 is computed by a subtracter 18. The output of the subtracter 18 and the inverse number value of the resistance value of the motor 1 are multiplied by a current multiplier 19, the output of the current multiplier 19 and a current value which flows to the motor 1 are compared by a comparison part 22, and whether a control apparatus is normal or abnormal is judged according to their result. Consequently, the control apparatus can be self-diagnozed without an erroneous detection. |
