| 摘要 |
PURPOSE:To execute a speed control at a high speed and stably, even if an error is contained in a position signal, by predicting a speed and a position of a movable body of a control object in each sample period, and executing a control by using a predicted speed, in case when an abnormal speed has been detected. CONSTITUTION:The present speed is calculated by a speed calculating part 10, based on a digital position signal outputted from an A/D converter 9 of an output side of a sampling circuit 7. Also, in a predicted value calculating part 11, a predicted speed and a predicted position at the time of sampling of the next time are calculated in accordance with the variation quantity of the inputted present speed signal and the digital position signal, and stored temporarily in a storage part 12. In case when an abnormal speed detecting part 13 has detected a normal speed, an output of the speed calculating part 10 is inputted to a subtracting part 2 through a speed selecting part 14, and in case when said part has detected and abnormal speed, the predicted speed of the previous time stored in the storage part 12 is read out, inputted to the subtracting part 2 through the speed selecting part 14, and also, a predicted position signal and a predicted speed signal at the time of sampling of this time, stored in the storage part 12 are corrected to those of the previous time.
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