| 摘要 |
PURPOSE: To accurately detect abnormality by discriminating the abnormality of the operation of a control system thereby reducing the effect of observed noise and calculation error of a computer based on an internal state amount to be calculated and actual internal state amount of the control system. CONSTITUTION: A processing machine 11 is controlled so as to follow up a signal 12 representing a position reference or a seed reference while receiving external disturbance 13 and noise 14. Since an internal state amount calculation section 16 calculates an internal state amount of the process machine 11 based on the signal 12, the section 16 is immune to the external disturbance 13 and the noise 14. Thus, a signal 17 outputted from the internal state amount calculation section 16 is a signal estimating an internal state amount of the process machine 11 without the absence of the external disturbance 13 and the noise 14. Furthermore, a signal 15 outputted from the process machine 11 represents the actual measurement value of the internal state amount with the external disturbance 13 and the noise 14. An abnormality discrimination section 18 compares the signal 15 representing the actual state of the process machine 11 with the signal 17 outputted from the internal state amount calculation section 16 without the external disturbance 13 and the noise 14 to discriminate the abnormality. |
