| 摘要 |
<p>PURPOSE:To make the limit value of abnormality deviation detection smaller with a simple means and to shorten an abnormality detecting time by executing abnormality detection and using difference between the present position of a controlled system and a position commanding value only before a constant time as deviation quantity. CONSTITUTION:A position command to control the position of a controlled system 5 is generated from a target value generator 1 and the difference between a target value and the present position of the controlled system 5 is obtained by a subtracter 2. Then, a constant gain is multified by an amplifier 3, a speed command is inputted to a speed controller 4 and the speed of the controlled system 5 is controlled by the controller 4. The present position, which is outputted from a position detector 6 of this servo system, and the position command only before a time t0 to pass through a delay generator 8, which has a delay time, are inputted to a subtracter 9 and position deviation, which is the difference of both, is inputted to a comparator 7. The position deviation is compared with the abnormality deviation limit value by the comparator 7. Then, when the delay position deviation is larger than the abnormal deviation limit value, an abnormality detecting signal is generated and the limit value of the abnormality detection is made small. Then, the abnormality detecting time is shortened.</p> |
