| 摘要 |
<p>PURPOSE:To enable easy detection of troubles of a vehicle by detecting them on the basis of the deviation between model control results and real control results based on a given control command. CONSTITUTION:A monitoring equipment 4 takes in not only data such as controlled variable and control target in a main control unit 2 but also various data indicating the operating state of a main motor 3 and the running state of a vehicle via sensors such as current sensor 5 and speed sensor 6 to prepare real control results A, B. Also, a model selection equipment 7 prepares model control results C, D on the basis of a control command given from a commander 1. When a deviation more than a given value appear between said real control results A, B and model control results C, D, a comparison circuit 8 emits an alarm and outputs a maintenance command.</p> |
