| 摘要 |
PROBLEM TO BE SOLVED: To provide a controller which can detect various types of abnormality such as the overrun, overshoot, over-velocity, actuator abnormality, etc., of a plant (actuator) to be controlled without using directly the sensor output corresponding to every abnormality. SOLUTION: Two types of information are acquired when the current (i) applied to a plant P6 to be controlled and the position (ps) of the plant P6 are directly measured. These information are inputted to a complete dimension observer 7 and turned into the estimated quantity of state including the information on an estimated position αps, an estimated velocity α v and the estimated acceleration α adis via a state space equation and an output equation. The estimated quantity of state is inputted to an abnormality detection means 8, and the value of a single piece of information on the estimated quantity of state or the value of combination of plural pieces of information is compared with the prescribed value that is previously set. Thus various abnormality signals w1, w2... are outputted to show the presence or absence of the overrun, overshoot, etc. |
