| 摘要 |
PURPOSE:To prevent the runaway of a control system in case the measuring environment is abnormal to a controlled system, by delivering an error signal after the abnormal environment is detected by a fault detector and switching the output to be given to the controlled system by said error signal. CONSTITUTION:A servocontrol circuit 14 uses the position deviation en and speed deviation en' as inputs and realizes a control rule that decides a controlled variable in with which an optimum function of evaluation dependent on a system is obtained. A fault detector 18 estimates a position from the speed of the controlled system and delivers 0 as an error signal 19 in case said estimated position and the position 4 and the speed 5 of the controlled system satisfy a prescribed equation. While the detector 18 delivers 1 if said equation is not satisfied. A selector 20 selects the output 17 of a servocontrol circuit 14 as a controlled variable 6 when the signal 19 is equal to 0. While the selector 20 switches the controlled variable 6 to 0 of the data 21 when the signal 19 is equal to 1. Thus the movement of the controlled system is stopped. This prevents the runaway of a control system. |
