JP3858350B2 - Control device - Google Patents

Description

【０００５】
一般に、数１の右辺第２項は、第３項に比べ小さく無視することができるため、数１は、数２のように近似できる。
【０００６】
【数２】

【０００７】
よって、最高速に達する時間ｔＭは、最高速をＶ Ｍとおくと数３のように表すことができる。
【０００８】
【数３】

【０００９】
以上により、角度制御系において制御対象を最高速ＶＭで制御しようとするとき、ｔＭは既知な定数：Ｊ、Ｔｐ，Ｔｆにより一義的に決定できるため、制御装置の角速度帰還路の正常／異常を診断することで制御対象の暴走を防止する自己診断機能として最高速判定を行う場合は、次のようにすることができる。角度パターン発生部４より最高速に達することの可能な所定の角度ステップ状指令を発生させる。この時の角度、角速度、モータ電流は前述の通り図２２のようになる。この時タイマ１２は指令発生から時間の計測を開始しｔＭ以上経過した時刻でかつ定速度に達する時間：ｔ１を予め計算しておき、時刻ｔ１が来たら最高速判定部１１に知らせる。最高速判定部１１では、タイマ１２の知らせを受けて最高速ＶＭとその時の角速度検出器２の検出する角速度との大きさの比較を行う。この比較結果が等しい場合は正常、等しくない場合は異常と診断する。異常となる場合は例えば、角速度帰還路が断線等で断絶しているとき、角速度制御は不能となるため、制御対象は暴走する。このとき、最高速判定部１１の比較結果は最高速ＶＭと一致しないため異常と診断される。
【００１０】
ところが、制御対象の摺動部に経年変化による錆、ガタ等が発生した場合、あるいは摺動部が低温環境に放置され潤滑剤の固化／凍結、部材の収縮等を起こした場合、制御対象の摩擦トルク：Ｔｆは増大する。このときモータの持つ最大トルク：Ｔｐ、及び制御対象の慣性能率：Ｊに変化はないため、数２の右辺は減少、つまり最大角加速度は減少する。その結果、最高速に達する時間ｔＭは増大してしまう。このときの様子を図２２の点線で示す。
【００１１】
【発明が解決しようとする課題】
以上のように、最大角加速度が減少することによって最高速に達する時間ｔＭが増大すると、前述の自己診断方法では時間：ｔ１に制御対象は最高速に達していないため、角速度帰還路が正常であるにも係わらず、制御装置を異常と誤検出してしまうという課題があった。
【００１２】
本発明は上記の課題を解決するためになされたものであり、誤検出のない自己診断機能を有する角度制御装置を得ることを目的とする。また同様に、誤検出のない自己診断機能を有する角速度制御装置を得ることを目的とする。
【００１３】
【課題を解決するための手段】
第１の発明に係る角度制御装置は、制御装置の最高速自己診断をするために制御対象の角加速度の大きさから定速度領域に達したことを判定することによって、上記角加速度の減少による最高速自己診断機能の誤検出の影響を排除するように構成したものである。
【００１４】
また第２の発明に係る角度制御装置は、制御装置の最高速自己診断をするために制御対象の角速度の変化率の大きさから定速度領域に達したことを判定することによって、上記角加速度の減少による最高速自己診断機能の誤検出の影響を排除するように構成したものである。
【００１５】
また第３の発明に係る角度制御装置は、制御装置の最高速自己診断をするために制御対象のモータ電流の大きさから定速度領域に達したことを判定することによって、上記角加速度の減少による最高速自己診断機能の誤検出の影響を排除するように構成したものである。
【００１６】
また第４の発明に係る角度制御装置は、制御装置の最高速自己診断をするために制御対象の回転角度の変化率の大きさから定速度領域に達したことを判定することによって、上記角加速度の減少による最高速自己診断機能の誤検出の影響を排除するように構成したものである。
【００１７】
また第５の発明に係る角度制御装置は、制御装置の最高速自己診断をするために制御対象の角加速度の大きさと角速度の変化率の大きさから定速度領域に達したことを判定することによって、上記角加速度の減少による誤検出の影響と角加速度と角速度各々に含まれるランダムなノイズによる誤検出の影響とを排除したより信頼性の高い最高速自己診断が行えるように構成したものである。
【００１８】
また第６の発明に係る角度制御装置は、制御装置の最高速自己診断をするために制御対象の角加速度の大きさとモータ電流の大きさから定速度領域に達したことを判定することによって、上記角加速度の減少による誤検出の影響と角加速度とモータ電流各々に含まれるランダムなノイズによる誤検出の影響とを排除したより信頼性の高い最高速自己診断が行えるように構成したものである。
【００１９】
また第７の発明に係る角度制御装置は、制御装置の最高速自己診断をするために制御対象の角加速度の大きさと回転角度の変化率の大きさから定速度領域に達したことを判定することによって、上記角加速度の減少による誤検出の影響と角加速度と回転角度各々に含まれるランダムなノイズによる誤検出の影響とを排除したより信頼性の高い最高速自己診断が行えるように構成したものである。
【００２０】
また第８の発明に係る角度制御装置は、制御装置の最高速自己診断をするために制御対象の角速度の変化率の大きさとモータ電流の大きさから定速度領域に達したことを判定することによって、上記角加速度の減少による誤検出の影響と角速度とモータ電流各々に含まれるランダムなノイズによる誤検出の影響とを排除したより信頼性の高い最高速自己診断が行えるように構成したものである。
【００２１】
また第９の発明に係る角度制御装置は、制御装置の最高速自己診断をするために制御対象の角速度の変化率の大きさと回転角度の変化率の大きさから定速度領域に達したことを判定することによって、上記角加速度の減少による誤検出の影響と角速度と回転角度各々に含まれるランダムなノイズによる誤検出の影響とを排除したより信頼性の高い最高速自己診断が行えるように構成したものである。
【００２２】
また第１０の発明に係る角度制御装置は、制御装置の最高速自己診断をするために制御対象のモータ電流の大きさと回転角度の変化率の大きさから定速度領域に達したことを判定することによって、上記角加速度の減少による誤検出の影響とモータ電流と回転角度各々に含まれるランダムなノイズによる誤検出の影響とを排除したより信頼性の高い最高速自己診断が行えるように構成したものである。
【００２３】
また第１１の発明に係る角速度制御装置は、制御装置の最高速自己診断をするために制御対象の角加速度の大きさから定速度領域に達したことを判定することによって、上記角加速度の減少による最高速自己診断機能の誤検出の影響を排除するように構成したものである。
【００２４】
また第１２の発明に係る角速度制御装置は、制御装置の最高速自己診断をするために制御対象の角速度の変化率の大きさから定速度領域に達したことを判定することによって、上記角加速度の減少による最高速自己診断機能の誤検出の影響を排除するように構成したものである。
【００２５】
また第１３の発明に係る角速度制御装置は、制御装置の最高速自己診断をするために制御対象のモータ電流の大きさから定速度領域に達したことを判定することによって、上記角加速度の減少による最高速自己診断機能の誤検出の影響を排除するように構成したものである。
【００２６】
また第１４の発明に係る角速度制御装置は、制御装置の最高速自己診断をするために制御対象の回転角度の変化率の大きさから定速度領域に達したことを判定することによって、上記角加速度の減少による最高速自己診断機能の誤検出の影響を排除するように構成したものである。
【００２７】
また第１５の発明に係る角速度制御装置は、制御装置の最高速自己診断をするために制御対象の角加速度の大きさと角速度の変化率の大きさから定速度領域に達したことを判定することによって、上記角加速度の減少による誤検出の影響と角加速度と角速度各々に含まれるランダムなノイズによる誤検出の影響とを排除したより信頼性の高い最高速自己診断が行えるように構成したものである。
【００２８】
また第１６の発明に係る角速度制御装置は、制御装置の最高速自己診断をするために制御対象の角加速度の大きさとモータ電流の大きさから定速度領域に達したことを判定することによって、上記角加速度の減少による誤検出の影響と角加速度とモータ電流各々に含まれるランダムなノイズによる誤検出の影響とを排除したより信頼性の高い最高速自己診断が行えるように構成したものである。
【００２９】
また第１７の発明に係る角速度制御装置は、制御装置の最高速自己診断をするために制御対象の角加速度の大きさと回転角度の変化率の大きさから定速度領域に達したことを判定することによって、上記角加速度の減少による誤検出の影響と角加速度と回転角度各々に含まれるランダムなノイズによる誤検出の影響とを排除したより信頼性の高い最高速自己診断が行えるように構成したものである。
【００３０】
また第１８の発明に係る角速度制御装置は、制御装置の最高速自己診断をするために制御対象の角速度の変化率の大きさとモータ電流の大きさから定速度領域に達したことを判定することによって、上記角加速度の減少による誤検出の影響と角速度とモータ電流各々に含まれるランダムなノイズによる誤検出の影響とを排除したより信頼性の高い最高速自己診断が行えるように構成したものである。
【００３１】
また第１９の発明に係る角速度制御装置は、制御装置の最高速自己診断をするために制御対象の角速度の変化率の大きさと回転角度の変化率の大きさから定速度領域に達したことを判定することによって、上記角加速度の減少による誤検出の影響と角速度と回転角度各々に含まれるランダムなノイズによる誤検出の影響とを排除したより信頼性の高い最高速自己診断が行えるように構成したものである。
【００３２】
また第２０の発明に係る角速度制御装置は、制御装置の最高速自己診断をするために制御対象のモータ電流の大きさと回転角度の変化率の大きさから定速度領域に達したことを判定することによって、上記角加速度の減少による誤検出の影響とモータ電流と回転角度各々に含まれるランダムなノイズによる誤検出の影響とを排除したより信頼性の高い最高速自己診断が行えるように構成したものである。
【００３３】
【発明の実施の形態】
実施の形態１．
図１はこの発明における角度制御装置の実施の形態１を示す構成図である。図において１〜１１は従来の角度制御装置と同じものであり、１３はモータ１の角加速度を検出する角加速度検出器、１４は角加速度検出器１４の検出する角加速度の大きさを判定する角加速度判定部、１５は角加速度判定部１３の判定結果から制御対象の角速度が一定速度となったことを判定し結果を最高速判定部１１に出力する第１の定速度領域判定部である。また、図中、同一記号は図２１、２２と同一である。
【００３４】
次に動作について説明する。図１に示す角度制御系に角度パターン発生部４よりステップ状の角度指令が加わったときの各部の波形は、図２１に示す従来の角度制御系と同様で図２２に示すとおりである。図２２から判るとおり最高速に達した場合、つまり角速度が定速度領域に達した場合、角加速度はほぼ零となることは自明である。よって、角加速度判定部１４で角加速度検出器１３の検出する角加速度が零になったことを判定して結果を出力し、第１の定速度領域判定部１５ではこの信号を受けて定速度になったとして最高速判定部１１に信号を出力する。最高速判定部１１では、第１の定速度領域判定部１５から定速度になったことを知らせる信号を受信した時点で角速度検出器２の検出する角速度をサンプリングして、予め設定されている最高速の値と比較し、等しい場合は正常、等しくない場合は異常として自己診断を実施する。
【００３５】
これにより、摩擦トルクが増大することによって最大角加速度が減少し最高速に達する時間が増大しても、角加速度の大きさがほぼ零となったかどうか判定することで正確に定速度領域に達したことを判別できるので、角速度帰還路が正常であるにもかかわらず異常と判断してしまうような誤検出はなくなる。
【００３６】
実施の形態２．
図２はこの発明における角度制御装置の実施の形態２を示す構成図である。図において１〜１１は従来の角度制御装置と同じものであり、１６は角速度検出器２に検出する角速度の変化率の大きさを計算する角速度変化率計算部、１７は角速度変化率計算部１６の計算結果から制御対象の角速度が一定速度となったことを判定し結果を最高速判定部１１に出力する第２の定速度領域判定部である。また、図中、同一記号は図２１、２２と同一である。
【００３７】
次に動作について説明する。図２に示す角度制御系に角度パターン発生部４よりステップ状の角度指令が加わったときの各部の波形は、図２１に示す従来の角度制御系と同様で図２２に示すとおりである。図２２から判るとおり最高速に達した場合、つまり角速度が定速度領域に達した場合、角速度の変化率はほぼ零となることは自明である。よって、角速度変化率計算部１６で角速度検出器２の検出する角速度の変化率が零になったことを判定して結果を出力し、第２の定速度領域判定部１７ではこの信号を受けて定速度になったとして最高速判定部１１に信号を出力する。最高速判定部１１では、第２の定速度領域判定部１７から定速度になったことを知らせる信号を受信した時点で角速度検出器２の検出する角速度をサンプリングして、予め設定されている最高速の値と比較し、等しい場合は正常、等しくない場合は異常として自己診断を実施する。
【００３８】
これにより、摩擦トルクが増大することによって最大角加速度が減少し最高速に達する時間が増大しても、角速度の変化率の大きさがほぼ零となったかどうか判定することで正確に定速度領域に達したことを判別できるので、角速度帰還路が正常であるにもかかわらず異常と判断してしまうような誤検出はなくなる。
【００３９】
実施の形態３．
図３はこの発明における角度制御装置の実施の形態３を示す構成図である。図において１〜１１は従来の角度制御装置と同じものであり、１８は電流検出器１１の検出するモータ電流の大きさを判定するモータ電流判定部、１９はモータ電流判定部１８の判定結果から制御対象の角速度が一定速度となったことを判定し結果を最高速判定部１１に出力する第３の定速度領域判定部である。また、図中、同一記号は図２１、２２と同一である。
【００４０】
次に動作について説明する。図３に示す角度制御系に角度パターン発生部４よりステップ状の角度指令が加わったときの各部の波形は、図２１に示す従来の角度制御系と同様で図２２に示すとおりである。図２２から判るとおり最高速に達した場合、つまり角速度が定速度領域に達した場合、モータ電流はほぼ一定の値となる。その値は、定速度領域では角加速度はほぼ零であるため数１の右辺第１項は零、第２、３項の合計値となる。第２項は既知の値から構成されるので一定値になる。また、第３項は摩擦トルクの大きさで決まるが、図２２に示すとおり、第２、３項の合計値は第１〜第３項の合計値に比べ、言い換えると加速時の値に比べ定速時は一般に小さな値を示すので、摩擦トルクの変動分を充分吸収できるだけのマージンを持った値に設定できる。よって、モータ電流判定部１８で電流検出器２の検出するモータ電流の大きさが数１の第２、第３項の合計値、及び摩擦トルクの変動分を充分に吸収できるだけのマージンを持った値になったことを判定して結果を出力し、第３の定速度領域判定部１９ではこの信号を受けて定速度になったとして最高速判定部１１に信号を出力する。最高速判定部１１では、第３の定速度領域判定部１９から定速度になったことを知らせる信号を受信した時点で角速度検出器２の検出する角速度をサンプリングして、予め設定されている最高速の値と比較し、等しい場合は正常、等しくない場合は異常として自己診断を実施する。
【００４１】
これにより、摩擦トルクが増大することによって最大角加速度が減少し最高速に達する時間が増大しても、モータ電流の大きさが数１の第２、第３項の合計値、及び摩擦トルクの変動分を充分に吸収できるだけのマージンを持った値以下となったかどうか判定することで正確に定速度領域に達したことを判別できるので、角速度帰還路が正常であるにもかかわらず異常と判断してしまうような誤検出はなくなる。
【００４２】
実施の形態４．
図４はこの発明における角度制御装置の実施の形態４を示す構成図である。図において１〜１１は従来の角度制御装置と同じものであり、２０は角度検出器３の検出する回転角度の変化率の大きさを判定する角度変化率計算部、２１は角度変化率計算部２０の計算結果から制御対象の角速度が一定速度となったことを判定し結果を最高速判定部１１に出力する第４の定速度領域判定部である。また、図中、同一記号は図２１、２２と同一である。
【００４３】
次に動作について説明する。図４に示す角度制御系に角度パターン発生部４よりステップ状の角度指令が加わったときの各部の波形は、図２１に示す従来の角度制御系と同様で図２２に示すとおりである。図２２から判るとおり最高速に達した場合、つまり角速度が定速度領域に達した場合、角度の変化率はほぼ一定となることは自明である。よって、角度変化率計算部２０で角度検出器３の検出する角度の変化率が一定になったことを判定して結果を出力し、第４の定速度領域判定部２１ではこの信号を受けて定速度になったとして最高速判定部１１に信号を出力する。最高速判定部１１では、第４の定速度領域判定部２１から定速度になったことを知らせる信号を受信した時点で角速度検出器２の検出する角速度をサンプリングして、予め設定されている最高速の値と比較し、等しい場合は正常、等しくない場合は異常として自己診断を実施する。
【００４４】
これにより、摩擦トルクが増大することによって最大角加速度が減少し最高速に達する時間が増大しても、角度の変化率の大きさが一定になったかどうか判定することで正確に定速度領域に達したことを判別できるので、角速度帰還路が正常であるにもかかわらず異常と判断してしまうような誤検出はなくなる。
【００４５】
実施の形態５．
図５はこの発明における角度制御装置の実施の形態５を示す構成図である。図において１〜１１は従来の角度制御装置と同じものであり、１３〜１５は実施の形態１と同じものであり、１６、１７は実施の形態２と同じものである。２２は第１の定速度領域判定部１５と第２の定速度領域判定部１７の判定結果の論理積をとり最高速判定部１１に結果を出力する論理積部である。また、図中、同一記号は図２１、２２と同一である。
【００４６】
次に動作について説明する。図５に示す角度制御系に角度パターン発生部４よりステップ状の角度指令が加わったときの各部の波形は、図２１に示す従来の角度制御系と同様で図２２に示すとおりである。また、第１の定速度領域判定部１５と第２の定速度領域判定部１７の判定結果を求めるまでの動作については実施の形態１、２と同じである。第１の定速度領域判定部１５と第２の定速度領域判定部１７の判定結果の論理積を論理積部２２でとることにより、定速度領域判定の信頼性を向上させることができる。
【００４７】
実施の形態６．
図６はこの発明における角度制御装置の実施の形態６を示す構成図である。図において１〜１１は従来の角度制御装置と同じものであり、１３〜１５は実施の形態１と同じものであり、１８、１９は実施の形態３と同じものである。２２は第１の定速度領域判定部１５と第３の定速度領域判定部１９の判定結果の論理積をとり最高速判定部１１に結果を出力する論理積部である。また、図中、同一記号は図２１、２２と同一である。
【００４８】
次に動作について説明する。図６に示す角度制御系に角度パターン発生部４よりステップ状の角度指令が加わったときの各部の波形は、図２１に示す従来の角度制御系と同様で図２２に示すとおりである。また、第１の定速度領域判定部１５と第３の定速度領域判定部１９の判定結果を求めるまでの動作については実施の形態１、３と同じである。第１の定速度領域判定部１５と第３の定速度領域判定部１９の判定結果の論理積を論理積部２２でとることにより、定速度領域判定の信頼性を向上させることができる。
【００４９】
実施の形態７．
図７はこの発明における角度制御装置の実施の形態７を示す構成図である。図において１〜１１は従来の角度制御装置と同じものであり、１３〜１５は実施の形態１と同じものであり、２０、２１は実施の形態４と同じものである。２２は第１の定速度領域判定部１５と第４の定速度領域判定部２１の判定結果の論理積をとり最高速判定部１１に結果を出力する論理積部である。また、図中、同一記号は図２１、２２と同一である。
【００５０】
次に動作について説明する。図７に示す角度制御系に角度パターン発生部４よりステップ状の角度指令が加わったときの各部の波形は、図２１に示す従来の角度制御系と同様で図２２に示すとおりである。また、第１の定速度領域判定部１５と第４の定速度領域判定部２１の判定結果を求めるまでの動作については実施の形態１、４と同じである。第１の定速度領域判定部１５と第４の定速度領域判定部２１の判定結果の論理積を論理積部２２でとることにより、定速度領域判定の信頼性を向上させることができる。
【００５１】
実施の形態８．
図８はこの発明における角度制御装置の実施の形態８を示す構成図である。図において１〜１１は従来の角度制御装置と同じものであり、１６、１７は実施の形態２と同じものであり、１８、１９は実施の形態３と同じものである。２２は第２の定速度領域判定部１７と第３の定速度領域判定部１９の判定結果の論理積をとり最高速判定部１１に結果を出力する論理積部である。また、図中、同一記号は図２１、２２と同一である。
【００５２】
次に動作について説明する。図８に示す角度制御系に角度パターン発生部４よりステップ状の角度指令が加わったときの各部の波形は、図２１に示す従来の角度制御系と同様で図２２に示すとおりである。また、第２の定速度領域判定部１７と第３の定速度領域判定部１９の判定結果を求めるまでの動作については実施の形態２、３と同じである。第２の定速度領域判定部１７と第３の定速度領域判定部１９の判定結果の論理積を論理積部２２でとることにより、定速度領域判定の信頼性を向上させることができる。
【００５３】
実施の形態９．
図９はこの発明における角度制御装置の実施の形態９を示す構成図である。図において１〜１１は従来の角度制御装置と同じものであり、１６、１７は実施の形態２と同じものであり、２０、２１は実施の形態４と同じものである。２２は第２の定速度領域判定部１７と第４の定速度領域判定部２１の判定結果の論理積をとり最高速判定部１１に結果を出力する論理積部である。また、図中、同一記号は図２１、２２と同一である。
【００５４】
次に動作について説明する。図９に示す角度制御系に角度パターン発生部４よりステップ状の角度指令が加わったときの各部の波形は、図２１に示す従来の角度制御系と同様で図２２に示すとおりである。また、第２の定速度領域判定部１６と第４の定速度領域判定部２０の判定結果を求めるまでの動作については実施の形態２、４と同じである。第２の定速度領域判定部１７と第４の定速度領域判定部２１の判定結果の論理積を論理積部２２でとることにより、定速度領域判定の信頼性を向上させることができる。
【００５５】
実施の形態１０．
図１０はこの発明における角度制御装置の実施の形態１０を示す構成図である。図において１〜１１は従来の角度制御装置と同じものであり、１８、１９は実施の形態３と同じものであり、２０、２１は実施の形態４と同じものである。２２は第３の定速度領域判定部１９と第４の定速度領域判定部２１の判定結果の論理積をとり最高速判定部１１に結果を出力する論理積部である。また、図中、同一記号は図２１、２２と同一である。
【００５６】
次に動作について説明する。図１０に示す角度制御系に角度パターン発生部４よりステップ状の角度指令が加わったときの各部の波形は、図２１に示す従来の角度制御系と同様で図２２に示すとおりである。また、第３の定速度領域判定部１９と第４の定速度領域判定部２１の判定結果を求めるまでの動作については実施の形態３、４と同じである。第３の定速度領域判定部１９と第４の定速度領域判定部２１の判定結果の論理積を論理積部２２でとることにより、定速度領域判定の信頼性を向上させることができる。
【００５７】
実施の形態１１．
図１１はこの発明における角速度制御装置の実施の形態１１を示す構成図である。図において１〜２、及び７〜１１は従来の角度制御装置と同じものであり、１３〜１５は実施の形態１と同じものである。２３は制御対象のステップ状の角速度指令で回転させるために指令値を発生させる角速度パターン発生部である。また、図中、同一記号は図２１、２２と同一である。
【００５８】
次に動作について説明する。図１１に示す角速度制御系に角速度パターン発生部２３よりステップ状の角速度指令が加わったときの各部の波形は、図２１に示す従来の角度制御系と同様で図２２に示すとおりである。図２２から判るとおり最高速に達した場合、つまり角速度が定速度領域に達した場合、角加速度はほぼ零となることは自明である。よって、角加速度判定部１４で角加速度検出器１３の検出する角加速度が零になったことを判定して結果を出力し、第１の定速度領域判定部１５ではこの信号を受けて定速度になったとして最高速判定部１１に信号を出力する。最高速判定部１１では、第１の定速度領域判定部１５から定速度になったことを知らせる信号を受信した時点で角速度検出器２の検出する角速度をサンプリングして、予め設定されている最高速の値と比較し、等しい場合は正常、等しくない場合は異常として自己診断を実施する。
【００５９】
これにより、摩擦トルクが増大することによって最大角加速度が減少し最高速に達する時間が増大しても、角加速度の大きさがほぼ零となったかどうか判定することで正確に定速度領域に達したことを判別できるので、角速度帰還路が正常であるにもかかわらず異常と判断してしまうような誤検出はなくなる。
【００６０】
実施の形態１２．
図１２はこの発明における角速度制御装置の実施の形態１２を示す構成図である。図において１〜２、及び７〜１１は従来の角度制御装置と同じものであり、１６、１７は実施の形態２と同じものであり、２３は実施の形態１１と同じものである。また、図中、同一記号は図２１、２２と同一である。
【００６１】
次に動作について説明する。図１２に示す角速度制御系に角速度パターン発生部２３よりステップ状の角速度指令が加わったときの各部の波形は、図２１に示す従来の角度制御系と同様で図２２に示すとおりである。図２２から判るとおり最高速に達した場合、つまり角速度が定速度領域に達した場合、角速度の変化率はほぼ零となることは自明である。よって、角速度変化率計算部１６で角速度検出器２の検出する角速度の変化率が零になったことを判定して結果を出力し、第２の定速度領域判定部１７ではこの信号を受けて定速度になったとして最高速判定部１１に信号を出力する。最高速判定部１１では、第２の定速度領域判定部１７から定速度になったことを知らせる信号を受信した時点で角速度検出器２の検出する角速度をサンプリングして、予め設定されている最高速の値と比較し、等しい場合は正常、等しくない場合は異常として自己診断を実施する。
【００６２】
これにより、摩擦トルクが増大することによって最大角加速度が減少し最高速に達する時間が増大しても、角速度の変化率の大きさがほぼ零となったかどうか判定することで正確に定速度領域に達したことを判別できるので、角速度帰還路が正常であるにもかかわらず異常と判断してしまうような誤検出はなくなる。
【００６３】
実施の形態１３．
図１３はこの発明における角速度制御装置の実施の形態１３を示す構成図である。図において１〜２、及び７〜１１は従来の角度制御装置と同じものであり、１８、１９は実施の形態３と同じものであり、２３は実施の形態１１と同じものである。また、図中、同一記号は図２１、２２と同一である。
【００６４】
次に動作について説明する。図１３に示す角速度制御系に角速度パターン発生部２３よりステップ状の角速度指令が加わったときの各部の波形は、図２１に示す従来の角度制御系と同様で図２２に示すとおりである。図２２から判るとおり最高速に達した場合、つまり角速度が定速度領域に達した場合、モータ電流はほぼ一定の値となる。その値は、定速度領域では角加速度はほぼ零であるため数１の右辺第１項は零、第２、３項の合計値となる。第２項は既知の値から構成されるので一定値になる。また、第３項は摩擦トルクの大きさで決まるが、図２２に示すとおり、第２、３項の合計値は第１〜第３項の値に比べ、言い換えると加速時の値に比べ定速時は一般に小さな値を示すので、摩擦トルクの変動分を充分吸収できるだけのマージンを持った値に設定できる。よって、モータ電流判定部１８で電流検出器２の検出するモータ電流の大きさが数１の第２、第３項の合計値、及び摩擦トルクの変動分を充分に吸収できるだけのマージンを持った値以下になったことを判定して結果を出力し、第３の定速度領域判定部１９ではこの信号を受けて定速度になったとして最高速判定部１１に信号を出力する。最高速判定部１１では、第３の定速度領域判定部１９から定速度になったことを知らせる信号を受信した時点で角速度検出器２の検出する角速度をサンプリングして、予め設定されている最高速の値と比較し、等しい場合は正常、等しくない場合は異常として自己診断を実施する。
【００６５】
実施の形態１４．
図１４はこの発明における角速度制御装置の実施の形態１４を示す構成図である。図において１〜３、及び７〜１１は従来の角度制御装置と同じものであり、２０、２１は実施の形態４と同じものであり、２３は実施の形態１１と同じものである。また、図中、同一記号は図２１、２２と同一である。
【００６６】
次に動作について説明する。図１４に示す角速度制御系に角速度パターン発生部２３よりステップ状の角速度指令が加わったときの各部の波形は、図２１に示す従来の角度制御系と同様で図２２に示すとおりである。図２２から判るとおり最高速に達した場合、つまり角速度が定速度領域に達した場合、角度の変化率はほぼ一定となることは自明である。よって、角度変化率計算部２０で角度検出器３の検出する角度の変化率が一定になったことを判定して結果を出力し、第４の定速度領域判定部２１ではこの信号を受けて定速度になったとして最高速判定部１１に信号を出力する。最高速判定部１１では、第４の定速度領域判定部２１から定速度になったことを知らせる信号を受信した時点で角速度検出器２の検出する角速度をサンプリングして、予め設定されている最高速の値と比較し、等しい場合は正常、等しくない場合は異常として自己診断を実施する。
【００６７】
これにより、摩擦トルクが増大することによって最大角加速度が減少し最高速に達する時間が増大しても、角度の変化率の大きさが一定になったかどうか判定することで正確に定速度領域に達したことを判別できるので、角速度帰還路が正常であるにもかかわらず異常と判断してしまうような誤検出はなくなる。
【００６８】
実施の形態１５．
図１５はこの発明における角速度制御装置の実施の形態１５を示す構成図である。図において１〜２、及び７〜１１は従来の角度制御装置と同じものであり、１３〜１５は実施の形態１と同じものであり、１６、１７は実施の形態２と同じものである。２２は第１の定速度領域判定部１５と第２の定速度領域判定部１７の判定結果の論理積をとり最高速判定部１１に結果を出力する論理積部、２３は実施の形態１１と同じものである。また、図中、同一記号は図２１、２２と同一である。
【００６９】
次に動作について説明する。図１５に示す角速度制御系に角速度パターン発生部２３よりステップ状の角速度指令が加わったときの各部の波形は、図２１に示す従来の角度制御系と同様で図２２に示すとおりである。また、第１の定速度領域判定部１５と第２の定速度領域判定部１７の判定結果を求めるまでの動作については実施の形態１、２と同じである。第１の定速度領域判定部１５と第２の定速度領域判定部１７の判定結果の論理積を論理積部２２でとることにより、定速度領域判定の信頼性を向上させることができる。
【００７０】
実施の形態１６．
図１６はこの発明における角速度制御装置の実施の形態１６を示す構成図である。図において１〜２、及び７〜１１は従来の角度制御装置と同じものであり、１３〜１５は実施の形態１と同じものであり、１８、１９は実施の形態３と同じものである。２２は第１の定速度領域判定部１５と第３の定速度領域判定部１９の判定結果の論理積をとり最高速判定部１１に結果を出力する論理積部、２３は実施の形態１１と同じものである。また、図中、同一記号は図２１、２２と同一である。
【００７１】
次に動作について説明する。図１６に示す角速度制御系に角速度パターン発生部２３よりステップ状の角速度指令が加わったときの各部の波形は、図２１に示す従来の角度制御系と同様で図２２に示すとおりである。また、第１の定速度領域判定部１５と第３の定速度領域判定部１９の判定結果を求めるまでの動作については実施の形態１、３と同じである。第１の定速度領域判定部１５と第３の定速度領域判定部１９の判定結果の論理積を論理積部２２でとることにより、定速度領域判定の信頼性を向上させることができる。
【００７２】
実施の形態１７．
図１７はこの発明における角速度制御装置の実施の形態１７を示す構成図である。図において１〜３、及び７〜１１は従来の角度制御装置と同じものであり、１３〜１５は実施の形態１と同じものであり、２０、２１は実施の形態４と同じものである。２２は第１の定速度領域判定部１５と第４の定速度領域判定部２１の判定結果の論理積をとり最高速判定部１１に結果を出力する論理積部、２３は実施の形態１１と同じものである。また、図中、同一記号は図２１、２２と同一である。
【００７３】
次に動作について説明する。図１７に示す角速度制御系に角速度パターン発生部２３よりステップ状の角速度指令が加わったときの各部の波形は、図２１に示す従来の角度制御系と同様で図２２に示すとおりである。また、第１の定速度領域判定部１５と第４の定速度領域判定部２１の判定結果を求めるまでの動作については実施の形態１、４と同じである。第１の定速度領域判定部１５と第４の定速度領域判定部２１の判定結果の論理積を論理積部２２でとることにより、定速度領域判定の信頼性を向上させることができる。
【００７４】
実施の形態１８．
図１８はこの発明における角速度制御装置の実施の形態１８を示す構成図である。図において１〜２、及び７〜１１は従来の角度制御装置と同じものであり、１６、１７は実施の形態２と同じものであり、１８、１９は実施の形態３と同じものである。２２は第２の定速度領域判定部１６と第３の定速度領域判定部１８の判定結果の論理積をとり最高速判定部１１に結果を出力する論理積部、２３は実施の形態１１と同じものである。また、図中、同一記号は図２１、２２と同一である。
【００７５】
次に動作について説明する。図１８に示す角速度制御系に角速度パターン発生部２３よりステップ状の角速度指令が加わったときの各部の波形は、図２１に示す従来の角度制御系と同様で図２２に示すとおりである。また、第２の定速度領域判定部１７と第３の定速度領域判定部１９の判定結果を求めるまでの動作については実施の形態２、３と同じである。第２の定速度領域判定部１７と第３の定速度領域判定部１９の判定結果の論理積を論理積部２２でとることにより、定速度領域判定の信頼性を向上させることができる。
【００７６】
実施の形態１９．
図１９はこの発明における角速度制御装置の実施の形態１９を示す構成図である。図において１〜３、及び７〜１１は従来の角度制御装置と同じものであり、１６、１７は実施の形態２と同じものであり、２０、２１は実施の形態４と同じものである。２２は第２の定速度領域判定部１７と第４の定速度領域判定部２１の判定結果の論理積をとり最高速判定部１１に結果を出力する論理積部、２３は実施の形態１１と同じものである。また、図中、同一記号は図２１、２２と同一である。
【００７７】
次に動作について説明する。図１９に示す角速度制御系に角速度パターン発生部２３よりステップ状の角速度指令が加わったときの各部の波形は、図２１に示す従来の角度制御系と同様で図２２に示すとおりである。また、第２の定速度領域判定部１７と第４の定速度領域判定部２１の判定結果を求めるまでの動作については実施の形態２、４と同じである。第２の定速度領域判定部１７と第４の定速度領域判定部２１の判定結果の論理積を論理積部２２でとることにより、定速度領域判定の信頼性を向上させることができる。
【００７８】
実施の形態２０．
図２０はこの発明における角速度制御装置の実施の形態２０を示す構成図である。図において１〜３、及び７〜１１は従来の角度制御装置と同じものであり、１８、１９は実施の形態３と同じものであり、２０、２１は実施の形態４と同じものである。２２は第３の定速度領域判定部１９と第４の定速度領域判定部２１の判定結果の論理積をとり最高速判定部１１に結果を出力する論理積部、２３は実施の形態１１と同じものである。また、図中、同一記号は図２１、２２と同一である。
【００７９】
次に動作について説明する。図２０に示す角速度制御系に角速度パターン発生部２３よりステップ状の角速度指令が加わったときの各部の波形は、図２１に示す従来の角度制御系と同様で図２２に示すとおりである。また、第３の定速度領域判定部１９と第４の定速度領域判定部２１の判定結果を求めるまでの動作については実施の形態３、４と同じである。第３の定速度領域判定部１９と第４の定速度領域判定部２１の判定結果の論理積を論理積部２２でとることにより、定速度領域判定の信頼性を向上させることができる。
【００８０】
【発明の効果】
第１の発明に係わる角度制御装置は、制御対象の暴走防止を目的とした最高速自己診断をする際に制御対象の角加速度の大きさから定速度領域に達したことを判定したので、自己診断結果の誤検出を防止できる効果がある。
【００８１】
また第２の発明に係わる角度制御装置は、制御対象の暴走防止を目的とした最高速自己診断をするために制御対象の角速度の変化率の大きさから定速度領域に達したことを判定したので、自己診断結果の誤検出を防止できる効果がある。
【００８２】
また第３の発明に係わる角度制御装置は、制御対象の暴走防止を目的とした最高速自己診断をするために制御対象のモータ電流の大きさから定速度領域に達したことを判定したので、自己診断結果の誤検出を防止できる効果がある。
【００８３】
また第４の発明に係わる角度制御装置は、制御対象の暴走防止を目的とした最高速自己診断をするために制御対象の回転角度の変化率の大きさから定速度領域に達したことを判定したので、自己診断結果の誤検出を防止できる効果がある。
【００８４】
また第５の発明に係わる角度制御装置は、制御対象の暴走防止を目的とした最高速自己診断をするために制御対象の角加速度の大きさと角速度の変化率の大きさから定速度領域に達したことを判定したので、自己診断結果の誤検出を防止できる効果がある。また、定速度領域の判定に制御対象の角加速度の大きさと角速度の変化率の大きさの判定結果の論理積を用いているので、最高速検出の信頼性を向上できる効果もある。
【００８５】
また第６の発明に係わる角度制御装置は、制御対象の暴走防止を目的とした最高速自己診断をするために制御対象の角加速度の大きさとモータ電流の大きさから定速度領域に達したことを判定したので、自己診断結果の誤検出を防止できる効果がある。また、定速度領域の判定に制御対象の角加速度の大きさとモータ電流の大きさの判定結果の論理積を用いているので、最高速検出の信頼性を向上できる効果もある。
【００８６】
また第７の発明に係わる角度制御装置は、制御対象の暴走防止を目的とした最高速自己診断をするために制御対象の角加速度の大きさと回転角度の変化率の大きさから定速度領域に達したことを判定したので、自己診断結果の誤検出を防止できる効果がある。また、定速度領域の判定に制御対象の角加速度の大きさと回転角度の変化率の大きさの判定結果の論理積を用いているので、最高速検出の信頼性を向上できる効果もある。
【００８７】
また第８の発明に係わる角度制御装置は、制御対象の暴走防止を目的とした最高速自己診断をするために制御対象の角速度の変化率の大きさとモータ電流の大きさから定速度領域に達したことを判定したので、自己診断結果の誤検出を防止できる効果がある。また、定速度領域の判定に制御対象の角速度の変化率の大きさとモータ電流の大きさの判定結果の論理積を用いているので、最高速検出の信頼性を向上できる効果もある。
【００８８】
また第９の発明に係わる角度制御装置は、制御対象の暴走防止を目的とした最高速自己診断をするために制御対象の角速度の変化率の大きさと回転角度の変化率の大きさから定速度領域に達したことを判定したので、自己診断結果の誤検出を防止できる効果がある。また、定速度領域の判定に制御対象の角速度の変化率の大きさと回転角度の変化率の大きさの判定結果の論理積を用いているので、最高速検出の信頼性を向上できる効果もある。
【００８９】
また第１０の発明に係わる角度制御装置は、制御対象の暴走防止を目的とした最高速自己診断をするために制御対象のモータ電流の大きさと回転角度の変化率の大きさから定速度領域に達したことを判定したので、自己診断結果の誤検出を防止できる効果がある。また、定速度領域の判定に制御対象のモータ電流の大きさと回転角度の変化率の大きさの判定結果の論理積を用いているので、最高速検出の信頼性を向上できる効果もある。
【００９０】
また第１１の発明に係わる角速度制御装置は、制御対象の暴走防止を目的とした最高速自己診断をする際に制御対象の角加速度の大きさから定速度領域に達したことを判定したので、自己診断結果の誤検出を防止できる効果がある。
【００９１】
また第１２の発明に係わる角速度制御装置は、制御対象の暴走防止を目的とした最高速自己診断をするために制御対象の角速度の変化率の大きさから定速度領域に達したことを判定したので、自己診断結果の誤検出を防止できる効果がある。
【００９２】
また第１３の発明に係わる角速度制御装置は、制御対象の暴走防止を目的とした最高速自己診断をするために制御対象のモータ電流の大きさから定速度領域に達したことを判定したので、自己診断結果の誤検出を防止できる効果がある。
【００９３】
また第１４の発明に係わる角速度制御装置は、制御対象の暴走防止を目的とした最高速自己診断をするために制御対象の回転角度の変化率の大きさから定速度領域に達したことを判定したので、自己診断結果の誤検出を防止できる効果がある。
【００９４】
また第１５の発明に係わる角速度制御装置は、制御対象の暴走防止を目的とした最高速自己診断をするために制御対象の角加速度の大きさと角速度の変化率の大きさから定速度領域に達したことを判定したので、自己診断結果の誤検出を防止できる効果がある。また、定速度領域の判定に制御対象の角加速度の大きさと角速度の変化率の大きさの判定結果の論理積を用いているので、最高速検出の信頼性を向上できる効果もある。
【００９５】
また第１６の発明に係わる角速度制御装置は、制御対象の暴走防止を目的とした最高速自己診断をするために制御対象の角加速度の大きさとモータ電流の大きさから定速度領域に達したことを判定したので、自己診断結果の誤検出を防止できる効果がある。また、定速度領域の判定に制御対象の角加速度の大きさとモータ電流の大きさの判定結果の論理積を用いているので、最高速検出の信頼性を向上できる効果もある。
【００９６】
また第１７の発明に係わる角速度制御装置は、制御対象の暴走防止を目的とした最高速自己診断をするために制御対象の角加速度の大きさと回転角度の変化率の大きさから定速度領域に達したことを判定したので、自己診断結果の誤検出を防止できる効果がある。また、定速度領域の判定に制御対象の角加速度の大きさと回転角度の変化率の大きさの判定結果の論理積を用いているので、最高速検出の信頼性を向上できる効果もある。
【００９７】
また第１８の発明に係わる角速度制御装置は、制御対象の暴走防止を目的とした最高速自己診断をするために制御対象の角速度の変化率の大きさとモータ電流の大きさから定速度領域に達したことを判定したので、自己診断結果の誤検出を防止できる効果がある。また、定速度領域の判定に制御対象の角速度の変化率の大きさとモータ電流の大きさの判定結果の論理積を用いているので、最高速検出の信頼性を向上できる効果もある。
【００９８】
また第１９の発明に係わる角速度制御装置は、制御対象の暴走防止を目的とした最高速自己診断をするために制御対象の角速度の変化率の大きさと回転角度の変化率の大きさから定速度領域に達したことを判定したので、自己診断結果の誤検出を防止できる効果がある。また、定速度領域の判定に制御対象の角速度の変化率の大きさと回転角度の変化率の大きさの判定結果の論理積を用いているので、最高速検出の信頼性を向上できる効果もある。
【００９９】
また第２０の発明に係わる角速度制御装置は、制御対象の暴走防止を目的とした最高速自己診断をするために制御対象のモータ電流の大きさと回転角度の変化率の大きさから定速度領域に達したことを判定したので、自己診断結果の誤検出を防止できる効果がある。また、定速度領域の判定に制御対象のモータ電流の大きさと回転角度の変化率の大きさの判定結果の論理積を用いているので、最高速検出の信頼性を向上できる効果もある。
【図面の簡単な説明】
【図１】 本発明における角度制御装置の実施の形態１を示す構成図である。
【図２】 本発明における角度制御装置の実施の形態２を示す構成図である。
【図３】 本発明における角度制御装置の実施の形態３を示す構成図である。
【図４】 本発明における角度制御装置の実施の形態４を示す構成図である。
【図５】 本発明における角度制御装置の実施の形態５を示す構成図である。
【図６】 本発明における角度制御装置の実施の形態６を示す構成図である。
【図７】 本発明における角度制御装置の実施の形態７を示す構成図である。
【図８】 本発明における角度制御装置の実施の形態８を示す構成図である。
【図９】 本発明における角度制御装置の実施の形態９を示す構成図である。
【図１０】 本発明における角度制御装置の実施の形態１０を示す構成図である。
【図１１】 本発明における角速度制御装置の実施の形態１１を示す構成図である。
【図１２】 本発明における角速度制御装置の実施の形態１２を示す構成図である。
【図１３】 本発明における角速度制御装置の実施の形態１３を示す構成図である。
【図１４】 本発明における角速度制御装置の実施の形態１４を示す構成図である。
【図１５】 本発明における角速度制御装置の実施の形態１５を示す構成図である。
【図１６】 本発明における角速度制御装置の実施の形態１６を示す構成図である。
【図１７】 本発明における角速度制御装置の実施の形態１７を示す構成図である。
【図１８】 本発明における角速度制御装置の実施の形態１８を示す構成図である。
【図１９】 本発明における角速度制御装置の実施の形態１９を示す構成図である。
【図２０】 本発明における角速度制御装置の実施の形態２０を示す構成図である。
【図２１】 従来装置における角度制御装置を示す構成図である。
【図２２】 従来装置における制御装置を示す構成図である。
【符号の説明】
１ モータ、２ 角速度検出器、３ 角度検出器、４ 角度パターン発生部、５ 角度減算器、６ 角度偏差増幅器、７ 角速度減算器、８ 角速度偏差増幅器、９ 電力増幅器、１０ 電流検出器、１１ 最高速判定部、１２ タイマ、１３ 角加速度検出器、１４ 角加速度判定部、１５ 第１の定速度領域判定部、１６ 角速度変化率計算部、１７ 第２の定速度領域判定部、１８ モータ電流判定部、１９ 第３の定速度領域判定部、２０ 角度変化率計算部、２１ 第４の定速度領域判定部、２２ 論理積部、２３ 角速度パターン発生部。[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a control device having a self-diagnosis function for accurately diagnosing normality / abnormality of a control device for a control system that requires angle and angular velocity control.
[0002]
[Prior art]
FIG. 21 is a block diagram showing a configuration example of a control device in the prior art. In the figure, 1 is a motor that rotates a control target such as a tracking radar, target sighting glasses, etc., and 2 is an angular velocity detection that detects the angular velocity of the motor 1. 3 is an angle detector for detecting the rotation angle of the motor 1, 4 is an angle pattern generator for generating a command value for rotating the controlled object with a step-like angle command, and 5 is detected by the angle detector 3. An angle subtractor that calculates the deviation between the angle and the angle command output from the angle pattern generator 4, an angle deviation amplifier 6 that amplifies the output of the angle subtractor 6 by Kp times, and 7 an output and angular velocity of the angle deviation amplifier 6. An angular velocity subtractor that calculates a deviation from the angular velocity detected by the detector 2, an angular velocity deviation amplifier 8 that amplifies the output of the angular velocity subtractor 7 by K TG times, and an angular velocity deviation amplifier 9. 8 A power amplifier that amplifies the output of the motor 1 and supplies the current of the motor 1, 10 is a current detector that detects the current flowing through the motor 1, 11 is a maximum speed determination unit that determines the maximum speed of the controlled object, and 12 is an angle pattern generator This is a timer that measures the time from the time when the stepped angle command, which is the output of the unit 4, is generated, and sends a signal to the highest speed determination unit 11 when a predetermined time comes.
[0003]
Next, the operation will be described. In an angle control system having an angular velocity feedback path using the angular velocity subtractor 7 and an angle feedback path using the angle subtractor 5 as shown in FIG. 21, each feedback path sets the outputs of the subtracters 5 and 7 to zero. To work. When a step-shaped angle command is applied from the angle pattern generator 4 to the angle control system, the waveform of each part is as shown by the thin line in FIG. Further, the maximum angular acceleration at this time is the rotation angle of the controlled object θ, the inertial rate of the controlled object J, the maximum torque of the motor Tp, the viscous braking coefficient of the controlled object Dm, and the friction torque of the controlled object Tf Then, it is known that Equation 1 holds.
[0004]
[Expression 1]

[0005]
In general, the second term on the right side of Equation 1 is smaller than the third term and can be ignored, so Equation 1 can be approximated as Equation 2.
[0006]
[Expression 2]

[0007]
Therefore, the time tM to reach the maximum speed can be expressed as in Equation 3, where VM is the maximum speed.
[0008]
[Equation 3]

[0009]
As described above, when trying to control the controlled object at the highest speed VM in the angle control system, tM can be uniquely determined by known constants: J, Tp, Tf, so that the normal / abnormality of the angular velocity feedback path of the control device can be determined. When performing the fastest determination as a self-diagnosis function that prevents runaway of the controlled object by making a diagnosis, the following can be performed. The angle pattern generator 4 generates a predetermined angle step command that can reach the highest speed. The angle, angular velocity, and motor current at this time are as shown in FIG. 22 as described above. At this time, the timer 12 starts measuring time from the generation of the command, calculates in advance the time t1 that reaches a constant speed at the time when tM or more has elapsed, and notifies the maximum speed determination unit 11 when the time t1 comes. The maximum speed determination unit 11 receives a notification from the timer 12 and compares the maximum speed VM with the angular speed detected by the angular speed detector 2 at that time. If the comparison results are equal, the diagnosis is normal, and if they are not equal, the diagnosis is abnormal. In the case of an abnormality, for example, when the angular velocity feedback path is broken due to disconnection or the like, the angular velocity control becomes impossible, so the controlled object runs away. At this time, since the comparison result of the highest speed determination unit 11 does not match the highest speed VM, an abnormality is diagnosed.
[0010]
However, when rust, looseness, etc. occur due to secular change in the sliding part to be controlled, or when the sliding part is left in a low-temperature environment and the lubricant is solidified / frozen, the member shrinks, etc. Friction torque: Tf increases. At this time, since there is no change in the maximum torque Tp and the inertia ratio J of the control object, the right side of Equation 2 decreases, that is, the maximum angular acceleration decreases. As a result, the time tM to reach the maximum speed increases. The situation at this time is indicated by a dotted line in FIG.
[0011]
[Problems to be solved by the invention]
As described above, when the time tM at which the maximum speed is reached increases due to the decrease in the maximum angular acceleration, the object to be controlled does not reach the maximum speed at the time: t1 in the above self-diagnosis method. Nevertheless, there is a problem that the control device is erroneously detected as abnormal.
[0012]
The present invention has been made to solve the above problems, and an object thereof is to obtain an angle control device having a self-diagnosis function without erroneous detection. Similarly, an object of the present invention is to obtain an angular velocity control device having a self-diagnosis function without erroneous detection.
[0013]
[Means for Solving the Problems]
The angle control device according to the first aspect of the present invention is based on the decrease in the angular acceleration by determining that the constant velocity region has been reached from the magnitude of the angular acceleration to be controlled in order to perform the fastest self-diagnosis of the control device. It is configured to eliminate the influence of false detection of the fastest self-diagnosis function.
[0014]
In addition, the angle control device according to the second aspect of the invention is configured to determine that the constant velocity region has been reached from the magnitude of the rate of change of the angular velocity of the control target in order to perform the fastest self-diagnosis of the control device. It is configured to eliminate the influence of false detection of the fastest self-diagnostic function due to the decrease in the number.
[0015]
According to a third aspect of the present invention, the angular control device reduces the angular acceleration by determining that the constant speed region has been reached from the magnitude of the motor current to be controlled in order to perform the fastest self-diagnosis of the control device. It is configured to eliminate the influence of false detection of the fastest self-diagnostic function.
[0016]
In addition, the angle control device according to a fourth aspect of the invention is configured to determine that the constant velocity region has been reached from the magnitude of the rate of change of the rotation angle of the control target in order to perform the fastest self-diagnosis of the control device. It is configured to eliminate the influence of false detection of the fastest self-diagnosis function due to the decrease in acceleration.
[0017]
In addition, the angle control device according to the fifth aspect of the invention determines that the constant velocity region has been reached from the magnitude of the angular acceleration to be controlled and the magnitude of the change rate of the angular velocity in order to perform the fastest self-diagnosis of the control device. This configuration eliminates the effects of false detection due to the decrease in angular acceleration and the effects of false detection due to random noise contained in each of angular acceleration and angular velocity. is there.
[0018]
In addition, the angle control device according to the sixth aspect of the invention determines that the constant velocity region has been reached from the magnitude of the angular acceleration to be controlled and the magnitude of the motor current in order to perform the fastest self-diagnosis of the control device. It is configured to perform the highest-speed self-diagnosis with higher reliability by eliminating the influence of false detection due to the decrease in angular acceleration and the influence of false detection due to random acceleration included in each of angular acceleration and motor current. .
[0019]
In addition, the angle control device according to the seventh aspect of the present invention determines that the constant speed region has been reached from the magnitude of the angular acceleration to be controlled and the rate of change of the rotation angle in order to perform the fastest self-diagnosis of the control device. By doing so, it is configured to perform the highest-speed self-diagnosis with higher reliability by eliminating the influence of false detection due to the decrease in angular acceleration and the influence of false detection due to random noise included in each of the angular acceleration and rotation angle. Is.
[0020]
In addition, the angle control device according to the eighth invention determines that the constant speed region has been reached from the magnitude of the change rate of the angular velocity of the control object and the magnitude of the motor current in order to perform the fastest self-diagnosis of the control device. This configuration eliminates the effects of false detection caused by the decrease in angular acceleration and the false detection caused by random noise contained in each of the angular velocity and motor current. is there.
[0021]
In addition, the angle control device according to the ninth aspect of the invention indicates that the constant velocity region has been reached from the magnitude of the change rate of the angular velocity and the change rate of the rotation angle of the control target in order to perform the fastest self-diagnosis of the control device. By determining, the maximum speed self-diagnosis can be performed with higher reliability by eliminating the influence of false detection due to the decrease in angular acceleration and the influence of false detection due to random noise included in each angular velocity and rotation angle. It is a thing.
[0022]
In addition, the angle control device according to the tenth invention determines that the constant speed region has been reached from the magnitude of the motor current to be controlled and the rate of change of the rotation angle in order to perform the fastest self-diagnosis of the control device. By doing so, it is configured to perform the highest-speed self-diagnosis with higher reliability by eliminating the influence of false detection due to the decrease in angular acceleration and the influence of false detection due to random noise included in each of the motor current and rotation angle. Is.
[0023]
According to an eleventh aspect of the present invention, the angular velocity control device reduces the angular acceleration by determining that the constant velocity region has been reached from the magnitude of the angular acceleration of the controlled object in order to perform the fastest self-diagnosis of the control device. It is configured to eliminate the influence of false detection of the fastest self-diagnostic function.
[0024]
According to a twelfth aspect of the present invention, the angular velocity control device determines that the constant velocity region has been reached from the magnitude of the rate of change of the angular velocity of the control target in order to perform the fastest self-diagnosis of the control device. It is configured to eliminate the influence of false detection of the fastest self-diagnostic function due to the decrease in the number.
[0025]
According to a thirteenth aspect of the present invention, the angular velocity control device reduces the angular acceleration by determining that the constant velocity region has been reached from the magnitude of the motor current to be controlled in order to perform the fastest self-diagnosis of the control device. It is configured to eliminate the influence of false detection of the fastest self-diagnostic function.
[0026]
In addition, the angular velocity control device according to the fourteenth aspect of the invention is configured to determine that the constant velocity region has been reached from the magnitude of the change rate of the rotation angle of the controlled object in order to perform the highest speed self-diagnosis of the control device. It is configured to eliminate the influence of false detection of the fastest self-diagnosis function due to the decrease in acceleration.
[0027]
In addition, the angular velocity control device according to the fifteenth aspect of the present invention determines that the constant velocity region has been reached from the magnitude of the angular acceleration to be controlled and the rate of change in angular velocity in order to perform the fastest self-diagnosis of the control device. This configuration eliminates the effects of false detection due to the decrease in angular acceleration and the effects of false detection due to random noise contained in each of angular acceleration and angular velocity. is there.
[0028]
In addition, the angular velocity control device according to the sixteenth aspect of the present invention determines that the constant velocity region has been reached from the magnitude of the angular acceleration to be controlled and the magnitude of the motor current in order to perform the fastest self-diagnosis of the control device. It is configured to perform the highest-speed self-diagnosis with higher reliability by eliminating the influence of false detection due to the decrease in angular acceleration and the influence of false detection due to random acceleration included in each of angular acceleration and motor current. .
[0029]
In addition, the angular velocity control device according to the seventeenth aspect of the present invention determines that the constant velocity region has been reached from the magnitude of the angular acceleration to be controlled and the rate of change of the rotation angle in order to perform the fastest self-diagnosis of the control device. By doing so, it is configured to perform the highest-speed self-diagnosis with higher reliability by eliminating the influence of false detection due to the decrease in angular acceleration and the influence of false detection due to random noise included in each of the angular acceleration and rotation angle. Is.
[0030]
Further, the angular velocity control device according to the eighteenth aspect of the present invention determines that the constant velocity region has been reached from the magnitude of the rate of change of the angular velocity to be controlled and the magnitude of the motor current in order to perform the fastest self-diagnosis of the control device. This configuration eliminates the effects of false detection caused by the decrease in angular acceleration and the false detection caused by random noise contained in each of the angular velocity and motor current. is there.
[0031]
In addition, the angular velocity control device according to the nineteenth aspect of the invention indicates that the constant velocity region has been reached from the magnitude of the change rate of the angular velocity and the change rate of the rotation angle of the controlled object in order to perform the fastest self-diagnosis of the control device. By determining, the maximum speed self-diagnosis can be performed with higher reliability by eliminating the influence of false detection due to the decrease in angular acceleration and the influence of false detection due to random noise included in each angular velocity and rotation angle. It is a thing.
[0032]
In addition, the angular velocity control device according to the twentieth invention determines that the constant velocity region has been reached from the magnitude of the motor current to be controlled and the rate of change of the rotation angle in order to perform the fastest self-diagnosis of the control device. By doing so, it is configured to perform the highest-speed self-diagnosis with higher reliability by eliminating the influence of false detection due to the decrease in angular acceleration and the influence of false detection due to random noise included in each of the motor current and rotation angle. Is.
[0033]
DETAILED DESCRIPTION OF THE INVENTION
Embodiment 1 FIG.
FIG. 1 is a configuration diagram showing Embodiment 1 of the angle control device according to the present invention. In the figure, reference numerals 1 to 11 are the same as those of the conventional angle control device, 13 is an angular acceleration detector that detects the angular acceleration of the motor 1, and 14 is a magnitude of angular acceleration that is detected by the angular acceleration detector 14. Angular acceleration determination unit, 15 is an angular acceleration determination unit 13 This is a first constant velocity region determination unit that determines that the angular velocity of the control target is a constant velocity from the determination result and outputs the result to the highest speed determination unit 11. In the figure, the same symbols are the same as those in FIGS.
[0034]
Next, the operation will be described. The waveform of each part when a step-shaped angle command is applied from the angle pattern generation unit 4 to the angle control system shown in FIG. 1 is the same as that of the conventional angle control system shown in FIG. As can be seen from FIG. 22, when the maximum speed is reached, that is, when the angular velocity reaches the constant velocity region, it is obvious that the angular acceleration becomes almost zero. Therefore, the angular acceleration determination unit 14 determines that the angular acceleration detected by the angular acceleration detector 13 has become zero and outputs the result. The first constant velocity region determination unit 15 receives this signal and receives the constant velocity. As a result, a signal is output to the highest speed determination unit 11. The maximum speed determination unit 11 samples the angular velocity detected by the angular velocity detector 2 at the time of receiving a signal notifying that the constant speed has been reached from the first constant velocity region determination unit 15, and sets a preset maximum speed. Compare with the high-speed value, if it is equal, perform a self-diagnosis as normal, and if not equal, abnormal.
[0035]
As a result, even if the maximum angular acceleration decreases and the time to reach the maximum speed increases due to an increase in friction torque, it is possible to accurately reach the constant speed region by determining whether the angular acceleration has become almost zero. Therefore, there is no false detection that determines that the angular velocity feedback path is abnormal although the angular velocity feedback path is normal.
[0036]
Embodiment 2. FIG.
2 is a block diagram showing Embodiment 2 of the angle control device according to the present invention. In the figure, reference numerals 1 to 11 are the same as those of the conventional angle control device, 16 is an angular velocity change rate calculation unit for calculating the magnitude of the change rate of angular velocity detected by the angular velocity detector 2, and 17 is an angular velocity change rate calculation unit 16. This is a second constant velocity region determination unit that determines that the angular velocity of the control target is a constant velocity from the calculation result of the above and outputs the result to the highest speed determination unit 11. In the figure, the same symbols are the same as those in FIGS.
[0037]
Next, the operation will be described. The waveform of each part when a step-shaped angle command is applied from the angle pattern generator 4 to the angle control system shown in FIG. 2 is the same as that of the conventional angle control system shown in FIG. As can be seen from FIG. 22, when the maximum speed is reached, that is, when the angular velocity reaches the constant velocity region, it is obvious that the rate of change of the angular velocity is almost zero. Therefore, the angular velocity change rate calculation unit 16 determines that the rate of change of the angular velocity detected by the angular velocity detector 2 has become zero and outputs the result. The second constant velocity region determination unit 17 receives this signal. A signal is output to the maximum speed determination unit 11 assuming that the speed is constant. The maximum speed determination unit 11 samples the angular velocity detected by the angular velocity detector 2 at the time of receiving a signal notifying that the constant speed has been reached from the second constant velocity region determination unit 17, and sets a preset maximum speed. Compare with the high-speed value, if it is equal, perform a self-diagnosis as normal, and if not equal, abnormal.
[0038]
As a result, even if the maximum angular acceleration decreases and the time to reach the maximum speed increases due to an increase in friction torque, it is possible to accurately determine whether the rate of change of the angular velocity has become almost zero or not in the constant speed region. Therefore, it is possible to eliminate the erroneous detection that determines that the angular velocity feedback path is abnormal although the angular velocity feedback path is normal.
[0039]
Embodiment 3 FIG.
FIG. 3 is a block diagram showing Embodiment 3 of the angle control device according to the present invention. In the figure, 1 to 11 are the same as the conventional angle control device, 18 is a motor current determination unit for determining the magnitude of the motor current detected by the current detector 11, and 19 is the determination result of the motor current determination unit 18. It is a third constant velocity region determination unit that determines that the angular velocity of the control target has become a constant velocity and outputs the result to the highest speed determination unit 11. In the figure, the same symbols are the same as those in FIGS.
[0040]
Next, the operation will be described. The waveform of each part when a step-like angle command is applied from the angle pattern generator 4 to the angle control system shown in FIG. 3 is the same as that of the conventional angle control system shown in FIG. 21, as shown in FIG. As can be seen from FIG. 22, when the maximum speed is reached, that is, when the angular velocity reaches the constant speed region, the motor current becomes a substantially constant value. Since the angular acceleration is almost zero in the constant velocity region, the first term on the right side of Equation 1 is zero, and the sum of the second and third terms. Since the second term is composed of known values, it becomes a constant value. The third term is determined by the magnitude of the friction torque. As shown in FIG. 22, the total value of the second and third terms is compared with the total value of the first to third terms, in other words, compared with the value at the time of acceleration. Since the speed is generally small at a constant speed, it can be set to a value with a margin that can sufficiently absorb the fluctuation of the friction torque. Accordingly, the motor current determination unit 18 has a margin that can sufficiently absorb the total value of the second and third terms of Formula 1 and the variation of the friction torque as the magnitude of the motor current detected by the current detector 2. It is determined that the value has been reached and the result is output, and the third constant speed region determination unit 19 receives this signal and outputs a signal to the highest speed determination unit 11 assuming that the speed has reached a constant speed. The maximum speed determination unit 11 samples the angular velocity detected by the angular velocity detector 2 at the time of receiving a signal notifying that the constant speed has been reached from the third constant velocity region determination unit 19, and sets a preset maximum speed. Compare with the high-speed value, if it is equal, perform a self-diagnosis as normal, and if not equal, abnormal.
[0041]
As a result, even when the maximum angular acceleration decreases and the time to reach the maximum speed increases due to the increase of the friction torque, the motor current magnitude is the sum of the second and third terms of Equation 1 and the friction torque. Judgment is made even if the angular velocity feedback path is normal because it can be accurately determined that the constant velocity region has been reached by judging whether or not the fluctuation is less than a value with a margin sufficient to absorb the fluctuation. This will eliminate false detections.
[0042]
Embodiment 4 FIG.
4 is a block diagram showing Embodiment 4 of the angle control device according to the present invention. In the figure, reference numerals 1 to 11 are the same as those of a conventional angle control device, 20 is an angle change rate calculation unit for determining the magnitude of the change rate of the rotation angle detected by the angle detector 3, and 21 is an angle change rate calculation unit. This is a fourth constant velocity region determination unit that determines from the 20 calculation results that the angular velocity of the control target is a constant velocity and outputs the result to the highest speed determination unit 11. In the figure, the same symbols are the same as those in FIGS.
[0043]
Next, the operation will be described. The waveform of each part when a step-like angle command is applied from the angle pattern generator 4 to the angle control system shown in FIG. 4 is the same as that of the conventional angle control system shown in FIG. As can be seen from FIG. 22, when the maximum speed is reached, that is, when the angular velocity reaches the constant velocity region, it is obvious that the rate of change of the angle becomes substantially constant. Therefore, the angle change rate calculation unit 20 determines that the change rate of the angle detected by the angle detector 3 is constant and outputs the result, and the fourth constant velocity region determination unit 21 receives this signal. A signal is output to the maximum speed determination unit 11 assuming that the speed is constant. The maximum speed determination unit 11 samples the angular velocity detected by the angular velocity detector 2 at the time of receiving a signal notifying that the constant speed has been reached from the fourth constant velocity region determination unit 21, and sets a preset maximum speed. Compare with the high-speed value, if it is equal, perform a self-diagnosis as normal, and if not equal, abnormal.
[0044]
As a result, even when the maximum angular acceleration decreases and the time to reach the maximum speed increases due to an increase in friction torque, it is accurately determined whether the change rate of the angle has become constant or not in the constant speed region. Since it is possible to determine that it has been reached, there is no false detection in which the angular velocity feedback path is determined to be abnormal although it is normal.
[0045]
Embodiment 5 FIG.
5 is a block diagram showing Embodiment 5 of the angle control device according to the present invention. In the figure, 1 to 11 are the same as those of the conventional angle control device, 13 to 15 are the same as those of the first embodiment, and 16 and 17 are the same as those of the second embodiment. A logical product unit 22 calculates the logical product of the determination results of the first constant speed region determination unit 15 and the second constant speed region determination unit 17 and outputs the result to the maximum speed determination unit 11. In the figure, the same symbols are the same as those in FIGS.
[0046]
Next, the operation will be described. The waveforms of the respective parts when a step-like angle command is applied from the angle pattern generation unit 4 to the angle control system shown in FIG. 5 are as shown in FIG. 22 as in the conventional angle control system shown in FIG. Further, the operations until the determination results of the first constant velocity region determination unit 15 and the second constant velocity region determination unit 17 are obtained are the same as those in the first and second embodiments. By taking the logical product of the determination results of the first constant velocity region determination unit 15 and the second constant velocity region determination unit 17 by the logical product unit 22, the reliability of the constant velocity region determination can be improved.
[0047]
Embodiment 6 FIG.
6 is a block diagram showing Embodiment 6 of the angle control device according to the present invention. In the figure, 1 to 11 are the same as those of the conventional angle control device, 13 to 15 are the same as those of the first embodiment, and 18 and 19 are the same as those of the third embodiment. A logical product unit 22 calculates the logical product of the determination results of the first constant velocity region determination unit 15 and the third constant velocity region determination unit 19 and outputs the result to the highest speed determination unit 11. In the figure, the same symbols are the same as those in FIGS.
[0048]
Next, the operation will be described. The waveform of each part when a step-like angle command is applied from the angle pattern generator 4 to the angle control system shown in FIG. 6 is as shown in FIG. 22 as in the conventional angle control system shown in FIG. In addition, the operations until the determination results of the first constant velocity region determination unit 15 and the third constant velocity region determination unit 19 are obtained are the same as those in the first and third embodiments. By taking the logical product of the determination results of the first constant velocity region determination unit 15 and the third constant velocity region determination unit 19 by the logical product unit 22, the reliability of the constant velocity region determination can be improved.
[0049]
Embodiment 7 FIG.
FIG. 7 is a block diagram showing Embodiment 7 of the angle control device according to the present invention. In the figure, 1 to 11 are the same as those of the conventional angle control device, 13 to 15 are the same as those of the first embodiment, and 20 and 21 are the same as those of the fourth embodiment. A logical product unit 22 calculates the logical product of the determination results of the first constant velocity region determination unit 15 and the fourth constant velocity region determination unit 21 and outputs the result to the highest speed determination unit 11. In the figure, the same symbols are the same as those in FIGS.
[0050]
Next, the operation will be described. The waveform of each part when a step-like angle command is applied from the angle pattern generator 4 to the angle control system shown in FIG. 7 is as shown in FIG. 22 as in the conventional angle control system shown in FIG. The operation until the determination results of the first constant velocity region determination unit 15 and the fourth constant velocity region determination unit 21 are obtained is the same as in the first and fourth embodiments. By taking the logical product of the determination results of the first constant speed region determination unit 15 and the fourth constant speed region determination unit 21 by the logical product unit 22, the reliability of the constant speed region determination can be improved.
[0051]
Embodiment 8 FIG.
FIG. 8 is a block diagram showing Embodiment 8 of the angle control device according to the present invention. In the figure, 1 to 11 are the same as those of the conventional angle control device, 16 and 17 are the same as those of the second embodiment, and 18 and 19 are the same as those of the third embodiment. A logical product unit 22 calculates the logical product of the determination results of the second constant speed region determination unit 17 and the third constant speed region determination unit 19 and outputs the result to the maximum speed determination unit 11. In the figure, the same symbols are the same as those in FIGS.
[0052]
Next, the operation will be described. The waveform of each part when a step-like angle command is applied from the angle pattern generation unit 4 to the angle control system shown in FIG. 8 is the same as that of the conventional angle control system shown in FIG. Further, the operations until the determination results of the second constant velocity region determination unit 17 and the third constant velocity region determination unit 19 are obtained are the same as those in the second and third embodiments. By taking the logical product of the determination results of the second constant velocity region determination unit 17 and the third constant velocity region determination unit 19 by the logical product unit 22, the reliability of the constant velocity region determination can be improved.
[0053]
Embodiment 9 FIG.
FIG. 9 is a block diagram showing Embodiment 9 of the angle control device according to the present invention. In the figure, 1 to 11 are the same as the conventional angle control device, 16 and 17 are the same as those in the second embodiment, and 20 and 21 are the same as those in the fourth embodiment. A logical product unit 22 calculates the logical product of the determination results of the second constant velocity region determination unit 17 and the fourth constant velocity region determination unit 21 and outputs the result to the maximum speed determination unit 11. In the figure, the same symbols are the same as those in FIGS.
[0054]
Next, the operation will be described. The waveforms of the respective parts when a step-like angle command is applied from the angle pattern generating unit 4 to the angle control system shown in FIG. 9 are the same as those of the conventional angle control system shown in FIG. The operation until the determination results of the second constant velocity region determination unit 16 and the fourth constant velocity region determination unit 20 are obtained is the same as in the second and fourth embodiments. By taking the logical product of the determination results of the second constant velocity region determination unit 17 and the fourth constant velocity region determination unit 21 by the logical product unit 22, the reliability of the constant velocity region determination can be improved.
[0055]
Embodiment 10 FIG.
FIG. 10 is a block diagram showing Embodiment 10 of the angle control device according to the present invention. In the figure, 1 to 11 are the same as those of the conventional angle control device, 18 and 19 are the same as those of the third embodiment, and 20 and 21 are the same as those of the fourth embodiment. A logical product unit 22 calculates the logical product of the determination results of the third constant speed region determination unit 19 and the fourth constant speed region determination unit 21 and outputs the result to the maximum speed determination unit 11. In the figure, the same symbols are the same as those in FIGS.
[0056]
Next, the operation will be described. The waveform of each part when a step-like angle command is applied from the angle pattern generator 4 to the angle control system shown in FIG. 10 is the same as that of the conventional angle control system shown in FIG. Further, the operations until the determination results of the third constant velocity region determination unit 19 and the fourth constant velocity region determination unit 21 are obtained are the same as those in the third and fourth embodiments. By taking the logical product of the determination results of the third constant speed region determination unit 19 and the fourth constant speed region determination unit 21 by the logical product unit 22, the reliability of the constant speed region determination can be improved.
[0057]
Embodiment 11 FIG.
FIG. 11 is a block diagram showing Embodiment 11 of the angular velocity control device according to the present invention. In the figure, 1-2 and 7-11 are the same as those of the conventional angle control device, and 13-15 are the same as those of the first embodiment. Reference numeral 23 denotes an angular velocity pattern generator that generates a command value for rotation by a step-like angular velocity command to be controlled. In the figure, the same symbols are the same as those in FIGS.
[0058]
Next, the operation will be described. The waveform of each part when a stepped angular velocity command is applied from the angular velocity pattern generation unit 23 to the angular velocity control system shown in FIG. 11 is the same as that of the conventional angle control system shown in FIG. As can be seen from FIG. 22, when the maximum speed is reached, that is, when the angular velocity reaches the constant velocity region, it is obvious that the angular acceleration becomes almost zero. Therefore, the angular acceleration determination unit 14 determines that the angular acceleration detected by the angular acceleration detector 13 has become zero and outputs the result. The first constant velocity region determination unit 15 receives this signal and receives the constant velocity. As a result, a signal is output to the highest speed determination unit 11. The maximum speed determination unit 11 samples the angular velocity detected by the angular velocity detector 2 at the time of receiving a signal notifying that the constant speed has been reached from the first constant velocity region determination unit 15, and sets a preset maximum speed. Compare with the high-speed value, if it is equal, perform a self-diagnosis as normal, and if not equal, abnormal.
[0059]
As a result, even if the maximum angular acceleration decreases and the time to reach the maximum speed increases due to an increase in friction torque, it is possible to accurately reach the constant speed region by determining whether the angular acceleration has become almost zero. Therefore, there is no false detection that determines that the angular velocity feedback path is abnormal although the angular velocity feedback path is normal.
[0060]
Embodiment 12 FIG.
FIG. 12 is a block diagram showing Embodiment 12 of the angular velocity control device according to the present invention. In the figure, 1-2 and 7-11 are the same as the conventional angle control device, 16 and 17 are the same as in the second embodiment, and 23 is the same as in the eleventh embodiment. In the figure, the same symbols are the same as those in FIGS.
[0061]
Next, the operation will be described. The waveform of each part when a stepped angular velocity command is applied from the angular velocity pattern generation unit 23 to the angular velocity control system shown in FIG. 12 is the same as that of the conventional angle control system shown in FIG. As can be seen from FIG. 22, when the maximum speed is reached, that is, when the angular velocity reaches the constant velocity region, it is obvious that the rate of change of the angular velocity is almost zero. Therefore, the angular velocity change rate calculation unit 16 determines that the rate of change of the angular velocity detected by the angular velocity detector 2 has become zero and outputs the result. The second constant velocity region determination unit 17 receives this signal. A signal is output to the maximum speed determination unit 11 assuming that the speed is constant. The maximum speed determination unit 11 samples the angular velocity detected by the angular velocity detector 2 at the time of receiving a signal notifying that the constant speed has been reached from the second constant velocity region determination unit 17, and sets a preset maximum speed. Compare with the high-speed value, if it is equal, perform a self-diagnosis as normal, and if not equal, abnormal.
[0062]
As a result, even if the maximum angular acceleration decreases and the time to reach the maximum speed increases due to an increase in friction torque, it is possible to accurately determine whether the rate of change of the angular velocity has become almost zero or not in the constant speed region. Therefore, it is possible to eliminate the erroneous detection that determines that the angular velocity feedback path is abnormal although the angular velocity feedback path is normal.
[0063]
Embodiment 13 FIG.
FIG. 13 is a block diagram showing Embodiment 13 of the angular velocity control device according to the present invention. In the figure, 1-2 and 7-11 are the same as those of the conventional angle control device, 18 and 19 are the same as those in the third embodiment, and 23 is the same as that in the eleventh embodiment. In the figure, the same symbols are the same as those in FIGS.
[0064]
Next, the operation will be described. The waveform of each part when a stepped angular velocity command is applied from the angular velocity pattern generation unit 23 to the angular velocity control system shown in FIG. 13 is the same as that of the conventional angle control system shown in FIG. As can be seen from FIG. 22, when the maximum speed is reached, that is, when the angular velocity reaches the constant speed region, the motor current becomes a substantially constant value. Since the angular acceleration is almost zero in the constant velocity region, the first term on the right side of Equation 1 is zero, and the sum of the second and third terms. Since the second term is composed of known values, it becomes a constant value. The third term is determined by the magnitude of the friction torque. As shown in FIG. 22, the total value of the second and third terms is compared with the values of the first to third terms, in other words, compared with the value during acceleration. Since the speed generally shows a small value, it can be set to a value having a margin enough to absorb the fluctuation of the friction torque. Accordingly, the motor current determination unit 18 has a margin that can sufficiently absorb the total value of the second and third terms of Formula 1 and the variation of the friction torque as the magnitude of the motor current detected by the current detector 2. It is determined that the value is equal to or less than the value, and the result is output. The third constant speed region determining unit 19 receives this signal and outputs a signal to the maximum speed determining unit 11 that the constant speed is reached. The maximum speed determination unit 11 samples the angular velocity detected by the angular velocity detector 2 at the time of receiving a signal notifying that the constant speed has been reached from the third constant velocity region determination unit 19, and sets a preset maximum speed. Compare with the high-speed value, if it is equal, perform a self-diagnosis as normal, and if not equal, abnormal.
[0065]
Embodiment 14 FIG.
FIG. 14 is a block diagram showing Embodiment 14 of the angular velocity control apparatus according to the present invention. In the figure, 1 to 3 and 7 to 11 are the same as those of the conventional angle control device, 20 and 21 are the same as those in the fourth embodiment, and 23 is the same as that in the eleventh embodiment. In the figure, the same symbols are the same as those in FIGS.
[0066]
Next, the operation will be described. The waveform of each part when a stepped angular velocity command is applied from the angular velocity pattern generation unit 23 to the angular velocity control system shown in FIG. 14 is the same as that of the conventional angle control system shown in FIG. As can be seen from FIG. 22, when the maximum speed is reached, that is, when the angular velocity reaches the constant velocity region, it is obvious that the rate of change of the angle becomes substantially constant. Therefore, the angle change rate calculation unit 20 determines that the change rate of the angle detected by the angle detector 3 is constant and outputs the result, and the fourth constant velocity region determination unit 21 receives this signal. A signal is output to the maximum speed determination unit 11 assuming that the speed is constant. The maximum speed determination unit 11 samples the angular velocity detected by the angular velocity detector 2 at the time of receiving a signal notifying that the constant speed has been reached from the fourth constant velocity region determination unit 21, and sets a preset maximum speed. Compare with the high-speed value, if it is equal, perform a self-diagnosis as normal, and if not equal, abnormal.
[0067]
As a result, even when the maximum angular acceleration decreases and the time to reach the maximum speed increases due to an increase in friction torque, it is accurately determined whether the change rate of the angle has become constant or not in the constant speed region. Since it is possible to determine that it has been reached, there is no false detection in which the angular velocity feedback path is determined to be abnormal although it is normal.
[0068]
Embodiment 15 FIG.
FIG. 15 is a block diagram showing Embodiment 15 of the angular velocity control device according to the present invention. In the figure, 1 to 2 and 7 to 11 are the same as those of the conventional angle control device, 13 to 15 are the same as those of the first embodiment, and 16 and 17 are the same as those of the second embodiment. 22 is a logical product unit that takes the logical product of the determination results of the first constant speed region determination unit 15 and the second constant speed region determination unit 17 and outputs the result to the maximum speed determination unit 11, and 23 is the same as in the eleventh embodiment. The same thing. In the figure, the same symbols are the same as those in FIGS.
[0069]
Next, the operation will be described. The waveform of each part when a stepped angular velocity command is applied from the angular velocity pattern generation unit 23 to the angular velocity control system shown in FIG. 15 is the same as that of the conventional angle control system shown in FIG. Further, the operations until the determination results of the first constant velocity region determination unit 15 and the second constant velocity region determination unit 17 are obtained are the same as those in the first and second embodiments. By taking the logical product of the determination results of the first constant velocity region determination unit 15 and the second constant velocity region determination unit 17 by the logical product unit 22, the reliability of the constant velocity region determination can be improved.
[0070]
Embodiment 16 FIG.
FIG. 16 is a block diagram showing Embodiment 16 of the angular velocity control apparatus according to the present invention. In the figure, 1-2 and 7-11 are the same as the conventional angle control device, 13-15 are the same as in the first embodiment, and 18 and 19 are the same as in the third embodiment. 22 is a logical product unit that takes the logical product of the determination results of the first constant speed region determination unit 15 and the third constant speed region determination unit 19 and outputs the result to the maximum speed determination unit 11, and 23 is the same as in the eleventh embodiment. The same thing. In the figure, the same symbols are the same as those in FIGS.
[0071]
Next, the operation will be described. The waveform of each part when a stepped angular velocity command is applied from the angular velocity pattern generator 23 to the angular velocity control system shown in FIG. 16 is the same as that of the conventional angle control system shown in FIG. In addition, the operations until the determination results of the first constant velocity region determination unit 15 and the third constant velocity region determination unit 19 are obtained are the same as those in the first and third embodiments. By taking the logical product of the determination results of the first constant velocity region determination unit 15 and the third constant velocity region determination unit 19 by the logical product unit 22, the reliability of the constant velocity region determination can be improved.
[0072]
Embodiment 17. FIG.
FIG. 17 is a block diagram showing Embodiment 17 of the angular velocity control device according to the present invention. In the figure, 1 to 3 and 7 to 11 are the same as those of the conventional angle control device, 13 to 15 are the same as those of the first embodiment, and 20 and 21 are the same as those of the fourth embodiment. 22 is a logical product unit that takes the logical product of the determination results of the first constant speed region determination unit 15 and the fourth constant speed region determination unit 21 and outputs the result to the maximum speed determination unit 11, and 23 is the same as in the eleventh embodiment. The same thing. In the figure, the same symbols are the same as those in FIGS.
[0073]
Next, the operation will be described. The waveforms of the respective parts when a stepped angular velocity command is applied from the angular velocity pattern generation unit 23 to the angular velocity control system shown in FIG. 17 are as shown in FIG. 22 as in the conventional angular control system shown in FIG. The operation until the determination results of the first constant velocity region determination unit 15 and the fourth constant velocity region determination unit 21 are obtained is the same as in the first and fourth embodiments. By taking the logical product of the determination results of the first constant speed region determination unit 15 and the fourth constant speed region determination unit 21 by the logical product unit 22, the reliability of the constant speed region determination can be improved.
[0074]
Embodiment 18 FIG.
18 is a block diagram showing Embodiment 18 of the angular velocity control apparatus according to the present invention. In the figure, 1-2 and 7-11 are the same as the conventional angle control device, 16 and 17 are the same as those in the second embodiment, and 18 and 19 are the same as those in the third embodiment. 22 is a logical product unit that takes the logical product of the determination results of the second constant speed region determination unit 16 and the third constant speed region determination unit 18 and outputs the result to the maximum speed determination unit 11, and 23 is the same as in the eleventh embodiment. The same thing. In the figure, the same symbols are the same as those in FIGS.
[0075]
Next, the operation will be described. The waveform of each part when the stepped angular velocity command is applied from the angular velocity pattern generation unit 23 to the angular velocity control system shown in FIG. 18 is the same as that of the conventional angle control system shown in FIG. Further, the operations until the determination results of the second constant velocity region determination unit 17 and the third constant velocity region determination unit 19 are obtained are the same as those in the second and third embodiments. By taking the logical product of the determination results of the second constant velocity region determination unit 17 and the third constant velocity region determination unit 19 by the logical product unit 22, the reliability of the constant velocity region determination can be improved.
[0076]
Embodiment 19. FIG.
FIG. 19 is a block diagram showing Embodiment 19 of the angular velocity control device according to the present invention. In the figure, 1 to 3 and 7 to 11 are the same as those of the conventional angle control device, 16 and 17 are the same as those of the second embodiment, and 20 and 21 are the same as those of the fourth embodiment. 22 is a logical product unit that takes the logical product of the determination results of the second constant speed region determination unit 17 and the fourth constant speed region determination unit 21 and outputs the result to the maximum speed determination unit 11, and 23 is the same as that of the eleventh embodiment. The same thing. In the figure, the same symbols are the same as those in FIGS.
[0077]
Next, the operation will be described. The waveform of each part when a stepped angular velocity command is applied from the angular velocity pattern generation unit 23 to the angular velocity control system shown in FIG. 19 is as shown in FIG. 22 as in the conventional angle control system shown in FIG. The operations until the determination results of the second constant speed region determination unit 17 and the fourth constant speed region determination unit 21 are obtained are the same as those in the second and fourth embodiments. By taking the logical product of the determination results of the second constant velocity region determination unit 17 and the fourth constant velocity region determination unit 21 by the logical product unit 22, the reliability of the constant velocity region determination can be improved.
[0078]
Embodiment 20. FIG.
FIG. 20 is a block diagram showing Embodiment 20 of the angular velocity control apparatus according to the present invention. In the figure, 1 to 3 and 7 to 11 are the same as those of the conventional angle control device, 18 and 19 are the same as those of the third embodiment, and 20 and 21 are the same as those of the fourth embodiment. 22 is a logical product unit that takes the logical product of the determination results of the third constant speed region determination unit 19 and the fourth constant speed region determination unit 21 and outputs the result to the maximum speed determination unit 11, and 23 is the same as in the eleventh embodiment. The same thing. In the figure, the same symbols are the same as those in FIGS.
[0079]
Next, the operation will be described. The waveform of each part when a stepped angular velocity command is applied from the angular velocity pattern generation unit 23 to the angular velocity control system shown in FIG. 20 is as shown in FIG. 22 as in the conventional angle control system shown in FIG. Further, the operations until the determination results of the third constant velocity region determination unit 19 and the fourth constant velocity region determination unit 21 are obtained are the same as those in the third and fourth embodiments. By taking the logical product of the determination results of the third constant speed region determination unit 19 and the fourth constant speed region determination unit 21 by the logical product unit 22, the reliability of the constant speed region determination can be improved.
[0080]
【The invention's effect】
The angle control device according to the first invention determines that the constant velocity region has been reached from the magnitude of the angular acceleration of the controlled object when performing the highest speed self-diagnosis for the purpose of preventing runaway of the controlled object. This has the effect of preventing erroneous detection of diagnostic results.
[0081]
In addition, the angle control device according to the second invention determines that the constant velocity region has been reached from the magnitude of the rate of change of the angular velocity of the controlled object in order to perform the fastest self-diagnosis for the purpose of preventing runaway of the controlled object. Therefore, there is an effect of preventing erroneous detection of the self-diagnosis result.
[0082]
In addition, since the angle control device according to the third invention determines that the constant speed region has been reached from the magnitude of the motor current of the controlled object in order to perform the highest speed self-diagnosis for the purpose of preventing runaway of the controlled object, This has the effect of preventing erroneous detection of self-diagnosis results.
[0083]
In addition, the angle control device according to the fourth aspect of the invention determines that the constant speed region has been reached from the magnitude of the rate of change of the rotation angle of the controlled object in order to perform the fastest self-diagnosis for the purpose of preventing runaway of the controlled object. Therefore, there is an effect of preventing erroneous detection of the self-diagnosis result.
[0084]
In addition, the angle control device according to the fifth aspect of the present invention reaches the constant speed region from the magnitude of the angular acceleration of the controlled object and the change rate of the angular speed in order to perform the fastest self-diagnosis for the purpose of preventing runaway of the controlled object. Since the determination is made, there is an effect of preventing erroneous detection of the self-diagnosis result. Further, since the logical product of the determination results of the magnitude of the angular acceleration to be controlled and the magnitude of the change rate of the angular velocity is used for the determination of the constant velocity region, there is an effect that the reliability of the highest speed detection can be improved.
[0085]
In addition, the angle control device according to the sixth aspect of the present invention has reached the constant speed range from the magnitude of the angular acceleration of the controlled object and the magnitude of the motor current in order to perform the fastest self-diagnosis for the purpose of preventing runaway of the controlled object. Therefore, it is possible to prevent erroneous detection of the self-diagnosis result. Further, since the logical product of the determination results of the angular acceleration to be controlled and the magnitude of the motor current is used for the determination of the constant speed region, there is an effect that the reliability of the highest speed detection can be improved.
[0086]
In addition, the angle control device according to the seventh aspect of the invention provides a constant speed range from the magnitude of the angular acceleration of the controlled object and the rate of change of the rotation angle in order to perform the fastest self-diagnosis for the purpose of preventing runaway of the controlled object. Since it is determined that it has been reached, there is an effect of preventing erroneous detection of the self-diagnosis result. Moreover, since the logical product of the determination results of the magnitude of the angular acceleration to be controlled and the magnitude of the change rate of the rotation angle is used for the determination of the constant speed region, there is an effect that the reliability of the maximum speed detection can be improved.
[0087]
In addition, the angle control device according to the eighth aspect of the present invention reaches the constant speed region from the magnitude of the change rate of the angular velocity of the controlled object and the magnitude of the motor current in order to perform the highest speed self-diagnosis for the purpose of preventing runaway of the controlled object. Since the determination is made, there is an effect of preventing erroneous detection of the self-diagnosis result. Further, since the logical product of the determination result of the change rate of the angular velocity to be controlled and the magnitude of the motor current is used for the determination of the constant speed region, there is an effect that the reliability of the maximum speed detection can be improved.
[0088]
In addition, the angle control device according to the ninth aspect of the present invention provides a constant speed based on the change rate of the angular velocity of the control object and the change rate of the rotation angle in order to perform the highest speed self-diagnosis for the purpose of preventing runaway of the control object. Since it has been determined that the region has been reached, there is an effect of preventing erroneous detection of the self-diagnosis result. In addition, since the logical product of the determination result of the change rate of the angular velocity to be controlled and the change rate of the rotation angle is used for the determination of the constant speed region, there is an effect that the reliability of the maximum speed detection can be improved. .
[0089]
In addition, the angle control device according to the tenth aspect of the invention provides a constant speed range from the magnitude of the motor current to be controlled and the rate of change of the rotation angle in order to perform the highest speed self-diagnosis for the purpose of preventing runaway of the controlled object. Since it is determined that it has been reached, there is an effect of preventing erroneous detection of the self-diagnosis result. Further, since the logical product of the determination results of the magnitude of the motor current to be controlled and the magnitude of the change rate of the rotation angle is used for the determination of the constant speed region, there is an effect that the reliability of the maximum speed detection can be improved.
[0090]
In addition, the angular velocity control device according to the eleventh invention determines that the constant velocity region has been reached from the magnitude of the angular acceleration of the controlled object when performing the highest speed self-diagnosis for the purpose of preventing runaway of the controlled object. This has the effect of preventing erroneous detection of self-diagnosis results.
[0091]
In addition, the angular velocity control device according to the twelfth invention determines that the constant velocity region has been reached from the magnitude of the rate of change of the angular velocity of the controlled object in order to perform the fastest self-diagnosis for the purpose of preventing runaway of the controlled object. Therefore, there is an effect of preventing erroneous detection of the self-diagnosis result.
[0092]
In addition, since the angular velocity control device according to the thirteenth invention determines that the constant speed region has been reached from the magnitude of the motor current to be controlled in order to perform the highest speed self-diagnosis for the purpose of preventing runaway of the controlled object, This has the effect of preventing erroneous detection of self-diagnosis results.
[0093]
In addition, the angular velocity control device according to the fourteenth invention determines that the constant velocity region has been reached from the magnitude of the rate of change of the rotation angle of the controlled object in order to perform the highest speed self-diagnosis for the purpose of preventing runaway of the controlled object. Therefore, there is an effect of preventing erroneous detection of the self-diagnosis result.
[0094]
The angular velocity control device according to the fifteenth aspect of the invention reaches a constant velocity region from the magnitude of the angular acceleration of the controlled object and the rate of change of the angular speed in order to perform the highest speed self-diagnosis for the purpose of preventing runaway of the controlled object. Since the determination is made, there is an effect of preventing erroneous detection of the self-diagnosis result. Further, since the logical product of the determination results of the magnitude of the angular acceleration to be controlled and the magnitude of the change rate of the angular velocity is used for the determination of the constant velocity region, there is an effect that the reliability of the highest speed detection can be improved.
[0095]
In addition, the angular velocity control device according to the sixteenth aspect of the invention has reached the constant velocity region from the magnitude of the angular acceleration of the controlled object and the magnitude of the motor current in order to perform the fastest self-diagnosis for the purpose of preventing runaway of the controlled object. Therefore, it is possible to prevent erroneous detection of the self-diagnosis result. In addition, since the logical product of the determination result of the magnitude of the angular acceleration to be controlled and the magnitude of the motor current is used for the determination of the constant speed region, there is an effect that the reliability of the maximum speed detection can be improved.
[0096]
The angular velocity control device according to the seventeenth aspect of the invention is a constant velocity region based on the magnitude of the angular acceleration of the controlled object and the rate of change of the rotation angle in order to perform the highest speed self-diagnosis for the purpose of preventing runaway of the controlled object. Since it is determined that it has been reached, there is an effect of preventing erroneous detection of the self-diagnosis result. Further, since the logical product of the determination results of the magnitude of the angular acceleration to be controlled and the magnitude of the change rate of the rotation angle is used for the determination of the constant speed region, there is an effect that the reliability of the maximum speed detection can be improved.
[0097]
The angular velocity control device according to the eighteenth aspect of the invention reaches the constant velocity region from the magnitude of the change rate of the angular velocity of the controlled object and the magnitude of the motor current in order to perform the fastest self-diagnosis for the purpose of preventing runaway of the controlled object. Since the determination is made, there is an effect of preventing erroneous detection of the self-diagnosis result. Further, since the logical product of the determination result of the change rate of the angular velocity to be controlled and the magnitude of the motor current is used for the determination of the constant speed region, there is an effect that the reliability of the maximum speed detection can be improved.
[0098]
According to a nineteenth aspect of the present invention, there is provided an angular velocity control apparatus, which performs constant speed measurement based on the rate of change in angular velocity and the rate of change in rotational angle in order to perform a fastest self-diagnosis for the purpose of preventing runaway of the controlled object. Since it has been determined that the region has been reached, there is an effect of preventing erroneous detection of the self-diagnosis result. In addition, since the logical product of the determination result of the change rate of the angular velocity to be controlled and the change rate of the rotation angle is used for the determination of the constant speed region, there is an effect that the reliability of the maximum speed detection can be improved. .
[0099]
The angular velocity control device according to the twentieth aspect of the invention is a constant velocity region based on the magnitude of the motor current to be controlled and the rate of change of the rotation angle in order to perform the highest speed self-diagnosis for the purpose of preventing runaway of the controlled object. Since it is determined that it has been reached, there is an effect of preventing erroneous detection of the self-diagnosis result. Moreover, since the logical product of the determination results of the magnitude of the motor current to be controlled and the magnitude of the change rate of the rotation angle is used for the determination of the constant speed region, there is an effect that the reliability of the maximum speed detection can be improved.
[Brief description of the drawings]
FIG. 1 is a configuration diagram illustrating a first embodiment of an angle control device according to the present invention.
FIG. 2 is a configuration diagram showing Embodiment 2 of an angle control device according to the present invention.
FIG. 3 is a configuration diagram showing Embodiment 3 of an angle control device according to the present invention.
FIG. 4 is a configuration diagram showing Embodiment 4 of an angle control device according to the present invention.
FIG. 5 is a configuration diagram showing Embodiment 5 of an angle control device according to the present invention.
FIG. 6 is a configuration diagram showing Embodiment 6 of an angle control device according to the present invention.
FIG. 7 is a configuration diagram showing Embodiment 7 of an angle control device according to the present invention.
FIG. 8 is a configuration diagram showing an eighth embodiment of an angle control device according to the present invention.
FIG. 9 is a configuration diagram showing Embodiment 9 of an angle control device according to the present invention.
FIG. 10 is a configuration diagram showing an embodiment 10 of an angle control device according to the present invention.
FIG. 11 is a configuration diagram showing an eleventh embodiment of an angular velocity control device according to the invention.
12 is a block diagram showing Embodiment 12 of an angular velocity control device in the present invention. FIG.
FIG. 13 is a configuration diagram showing an embodiment 13 of an angular velocity control device according to the invention.
FIG. 14 is a configuration diagram showing an embodiment 14 of an angular velocity control device according to the invention.
FIG. 15 is a configuration diagram showing an embodiment 15 of an angular velocity control device according to the invention.
FIG. 16 is a configuration diagram showing an angular velocity control device according to a sixteenth embodiment of the present invention.
FIG. 17 is a block diagram showing Embodiment 17 of the angular velocity control device in the present invention.
FIG. 18 is a configuration diagram showing an eighteenth embodiment of an angular velocity control apparatus according to the present invention.
FIG. 19 is a configuration diagram showing an nineteenth embodiment of an angular velocity control apparatus according to the present invention.
FIG. 20 is a configuration diagram showing an embodiment 20 of an angular velocity control device according to the invention.
FIG. 21 is a block diagram showing an angle control device in a conventional device.
FIG. 22 is a block diagram showing a control device in a conventional device.
[Explanation of symbols]
1 motor, 2 angular velocity detector, 3 angle detector, 4 angular pattern generator, 5 angular subtractor, 6 angular deviation amplifier, 7 angular velocity subtractor, 8 angular velocity deviation amplifier, 9 power amplifier, 10 current detector, 11 High-speed determination unit, 12 timer, 13 angular acceleration detector, 14 angular acceleration determination unit, 15 first constant velocity region determination unit, 16 angular velocity change rate calculation unit, 17 second constant velocity region determination unit, 18 motor current determination 19, a third constant velocity region determination unit, 20 an angle change rate calculation unit, 21 a fourth constant velocity region determination unit, 22 a logical product unit, and 23 an angular velocity pattern generation unit.

Claims (20)

A motor that rotates the controlled object;
An angular velocity detector for detecting the angular velocity of the motor;
An angle detector for detecting the rotation angle of the motor;
An angular acceleration detector for detecting the angular acceleration of the motor;
An angle pattern generator for generating a command value to rotate the control target with a step-like angle command;
An angle subtractor for calculating a deviation between an angle detected by the angle detector and an angle command output by the angle pattern generator;
An angle deviation amplifier for amplifying the output of the angle subtractor;
An angular velocity subtractor for calculating a deviation between the output of the angular deviation amplifier and the angular velocity detected by the angular velocity detector;
An angular velocity deviation amplifier that amplifies the output of the angular velocity subtractor;
A power amplifier that amplifies the output of the angular velocity deviation amplifier and supplies current to the motor;
A current detector for detecting the current flowing through the motor;
An angular acceleration determination unit that determines the magnitude of angular acceleration detected by the angular acceleration detector;
A constant velocity region determining unit that determines that the angular velocity of the control target is a constant velocity from the output of the angular acceleration determining unit ;
When the signal indicating the constant speed is received from the constant speed region determination unit, the angular speed detected by the angular speed detector is sampled and compared with the preset maximum speed value. Is the fastest determination unit that self-diagnoses as normal, if not equal, and abnormal ,
A control device comprising: A motor that rotates the controlled object;
An angular velocity detector for detecting the angular velocity of the motor;
An angle detector for detecting the rotation angle of the motor;
An angle pattern generator for generating a command value to rotate the control target with a step-like angle command;
An angle subtractor for calculating a deviation between an angle detected by the angle detector and an angle command output by the angle pattern generation unit, an angle deviation amplifier for amplifying the output of the angle subtractor,
An angular velocity subtractor for calculating a deviation between the output of the angular deviation amplifier and the angular velocity detected by the angular velocity detector;
An angular velocity deviation amplifier that amplifies the output of the angular velocity subtractor;
A power amplifier that amplifies the output of the angular velocity deviation amplifier and supplies current to the motor;
A current detector for detecting a current flowing through the motor;
An angular velocity change rate calculating unit for calculating a change rate of the angular velocity detected by the angular velocity detector;
A constant velocity region determining unit that determines that the angular velocity of the control target is a constant velocity from the output of the angular velocity change rate calculating unit ;
When the signal indicating the constant speed is received from the constant speed region determination unit, the angular speed detected by the angular speed detector is sampled and compared with the preset maximum speed value. Is the highest speed judgment unit that self-diagnosis as normal, if not equal, and abnormal ,
A control device comprising: A motor that rotates the controlled object;
An angular velocity detector for detecting the angular velocity of the motor;
An angle detector for detecting the rotation angle of the motor;
An angle pattern generator for generating a command value to rotate the control target with a step-like angle command;
An angle subtractor for calculating a deviation between an angle detected by the angle detector and an angle command output by the angle pattern generator;
An angle deviation amplifier for amplifying the output of the angle subtractor;
An angular velocity subtractor for calculating a deviation between the output of the angular deviation amplifier and the angular velocity detected by the angular velocity detector; an angular velocity deviation amplifier for amplifying the output of the angular velocity subtractor;
A power amplifier that amplifies the output of the angular velocity deviation amplifier and supplies current to the motor;
A current detector for detecting the current flowing through the motor;
A motor current determination unit for determining that the magnitude of the motor current detected by the current detector has decreased below a predetermined value after being reduced from a steady value ;
A constant speed region determining unit that receives the signal from the motor current determining unit and determines that the angular velocity of the control target has become a constant speed ;
When the signal indicating the constant speed is received from the constant speed region determination unit, the angular speed detected by the angular speed detector is sampled and compared with the preset maximum speed value. Is the fastest determination unit that self-diagnoses as normal, if not equal, and abnormal ,
A control device comprising: A motor that rotates the controlled object;
An angular velocity detector for detecting the angular velocity of the motor;
An angle detector for detecting the rotation angle of the motor;
An angle pattern generator for generating a command value to rotate the control target with a step-like angle command;
An angle subtractor for calculating a deviation between an angle detected by the angle detector and an angle command output by the angle pattern generation unit;
An angle deviation amplifier for amplifying the output of the angle subtractor;
An angular velocity subtractor for calculating a deviation between the output of the angular deviation amplifier and the angular velocity detected by the angular velocity detector;
An angular velocity deviation amplifier that amplifies the output of the angular velocity subtractor;
A power amplifier that amplifies the output of the angular velocity deviation amplifier and supplies current to the motor;
A current detector for detecting a current flowing through the motor;
An angle change rate calculation unit that calculates that the change rate of the rotation angle detected by the angle detector has risen to a steady value after increasing ,
A constant speed region determination unit that receives a signal from the angle change rate calculation unit and determines that the angular velocity of the control target is constant ;
When the signal indicating the constant speed is received from the constant speed region determination unit, the angular speed detected by the angular speed detector is sampled and compared with the preset maximum speed value. Is the highest speed judgment unit that self-diagnosis as normal, if not equal, and abnormal ,
A control device comprising: A motor that rotates the controlled object;
An angular velocity detector for detecting the angular velocity of the motor;
An angle detector for detecting the rotation angle of the motor;
An angular acceleration detector for detecting the angular acceleration of the motor;
An angle pattern generator for generating a command value to rotate the control target with a step-like angle command;
An angle subtractor for calculating a deviation between an angle detected by the angle detector and an angle command output by the angle pattern generation unit;
An angle deviation amplifier for amplifying the output of the angle subtractor;
An angular velocity subtractor for calculating a deviation between the output of the angular deviation amplifier and the angular velocity detected by the angular velocity detector;
An angular velocity deviation amplifier that amplifies the output of the angular velocity subtractor;
A power amplifier that amplifies the output of the angular velocity deviation amplifier and supplies current to the motor;
A current detector for detecting a current flowing through the motor;
An angular acceleration determination unit that determines the magnitude of angular acceleration detected by the angular acceleration detector;
A first constant velocity region determining unit that determines from the output of the angular acceleration determining unit that the angular velocity of the control target is a constant velocity;
An angular velocity change rate calculating unit for calculating a change rate of the angular velocity detected by the angular velocity detector;
A second constant velocity region determination unit that determines from the output of the angular velocity change rate calculation unit that the angular velocity of the controlled object is a constant velocity;
A logical product unit that takes a logical product of the determination results of the first constant velocity region determination unit and the second constant velocity region determination unit and outputs the result to the maximum speed determination unit ;
Sampling the angular velocity detected by the angular velocity detector at the time when the signal indicating that the constant velocity is obtained from the logical product unit is compared with the maximum value set in advance. If it is not equal, the fastest determination unit for self-diagnosis as an abnormality ,
A control device comprising: A motor that rotates the controlled object;
An angular velocity detector for detecting the angular velocity of the motor;
An angle detector for detecting the rotation angle of the motor;
An angular acceleration detector for detecting the angular acceleration of the motor;
An angle pattern generator for generating a command value to rotate the control target with a step-like angle command;
An angle subtractor for calculating a deviation between an angle detected by the angle detector and an angle command output by the angle pattern generation unit;
An angle deviation amplifier for amplifying the output of the angle subtractor;
An angular velocity subtractor for calculating a deviation between the output of the angular deviation amplifier and the angular velocity detected by the angular velocity detector;
An angular velocity deviation amplifier that amplifies the output of the angular velocity subtractor;
A power amplifier that amplifies the output of the angular velocity deviation amplifier and supplies current to the motor;
A current detector for detecting a current flowing through the motor;
An angular acceleration determination unit that determines the magnitude of angular acceleration detected by the angular acceleration detector;
A first constant velocity region determining unit that determines from the output of the angular acceleration determining unit that the angular velocity of the control target is a constant velocity;
A motor current determination unit for determining that the magnitude of the motor current detected by the current detector has decreased below a predetermined value after being reduced from a steady value ;
A second constant speed region determination unit that receives the signal from the motor current determination unit and determines that the angular velocity of the control target has become a constant speed;
A logical product unit that takes a logical product of the determination results of the first constant velocity region determination unit and the second constant velocity region determination unit and outputs the result to the maximum speed determination unit ;
Sampling the angular velocity detected by the angular velocity detector at the time when the signal indicating that the constant velocity is obtained from the logical product unit is compared with the maximum value set in advance. If it is not equal, the fastest determination unit for self-diagnosis as an abnormality ,
A control device comprising: A motor that rotates the controlled object;
An angular velocity detector for detecting the angular velocity of the motor;
An angle detector for detecting the rotation angle of the motor;
An angular acceleration detector for detecting the angular acceleration of the motor;
An angle pattern generator for generating a command value to rotate the control target with a step-like angle command;
An angle subtractor for calculating a deviation between an angle detected by the angle detector and an angle command output by the angle pattern generation unit;
An angle deviation amplifier for amplifying the output of the angle subtractor;
An angular velocity subtractor for calculating a deviation between the output of the angular deviation amplifier and the angular velocity detected by the angular velocity detector;
An angular velocity deviation amplifier that amplifies the output of the angular velocity subtractor;
A power amplifier that amplifies the output of the angular velocity deviation amplifier and supplies current to the motor;
A current detector for detecting a current flowing through the motor;
An angular acceleration determination unit that determines the magnitude of angular acceleration detected by the angular acceleration detector;
A first constant velocity region determining unit that determines from the output of the angular acceleration determining unit that the angular velocity of the control target is a constant velocity;
An angle change rate calculation unit that calculates that the change rate of the rotation angle detected by the angle detector has risen to a steady value after increasing ,
A second constant velocity region determination unit that receives the signal from the angle change rate calculation unit and determines that the angular velocity of the control target has become a constant velocity;
A logical product unit that takes a logical product of the determination results of the first constant velocity region determination unit and the second constant velocity region determination unit and outputs the result to the maximum speed determination unit ;
Sampling the angular velocity detected by the angular velocity detector at the time when the signal indicating that the constant velocity is obtained from the logical product unit is compared with the maximum value set in advance. If it is not equal, the fastest determination unit for self-diagnosis as an abnormality ,
A control device comprising: A motor that rotates the controlled object;
An angular velocity detector for detecting the angular velocity of the motor;
An angle detector for detecting the rotation angle of the motor;
An angle pattern generator for generating a command value to rotate the control target with a step-like angle command;
An angle subtractor for calculating a deviation between an angle detected by the angle detector and an angle command output by the angle pattern generation unit;
An angle deviation amplifier for amplifying the output of the angle subtractor;
An angular velocity subtractor for calculating a deviation between the output of the angular deviation amplifier and the angular velocity detected by the angular velocity detector;
An angular velocity deviation amplifier that amplifies the output of the angular velocity subtractor;
A power amplifier that amplifies the output of the angular velocity deviation amplifier and supplies current to the motor;
A current detector for detecting a current flowing through the motor;
An angular velocity change rate calculating unit for calculating a change rate of the angular velocity detected by the angular velocity detector;
A first constant velocity region determination unit that determines from the output of the angular velocity change rate calculation unit that the angular velocity of the controlled object is a constant velocity;
A motor current determination unit for determining that the magnitude of the motor current detected by the current detector has decreased below a predetermined value after being reduced from a steady value ;
A second constant speed region determination unit that receives the signal from the motor current determination unit and determines that the angular velocity of the control target has become a constant speed;
A logical product unit that takes a logical product of the determination results of the first constant velocity region determination unit and the second constant velocity region determination unit and outputs the result to the maximum speed determination unit ;
Sampling the angular velocity detected by the angular velocity detector at the time when the signal indicating that the constant velocity is obtained from the logical product unit is compared with the maximum value set in advance. If it is not equal, the fastest determination unit for self-diagnosis as an abnormality ,
A control device comprising: A motor that rotates the controlled object;
An angular velocity detector for detecting the angular velocity of the motor;
An angle detector for detecting the rotation angle of the motor, an angle pattern generator for generating a command value to rotate the control object with a step-like angle command,
An angle subtractor for calculating a deviation between an angle detected by the angle detector and an angle command output by the angle pattern generation unit;
An angle deviation amplifier for amplifying the output of the angle subtractor;
An angular velocity subtractor for calculating a deviation between the output of the angular deviation amplifier and the angular velocity detected by the angular velocity detector;
An angular velocity deviation amplifier that amplifies the output of the angular velocity subtractor;
A power amplifier that amplifies the output of the angular velocity deviation amplifier and supplies current to the motor;
A current detector for detecting a current flowing through the motor;
An angular velocity change rate calculating unit for calculating a change rate of the angular velocity detected by the angular velocity detector;
A first constant velocity region determination unit that determines from the output of the angular velocity change rate calculation unit that the angular velocity of the controlled object is a constant velocity;
An angle change rate calculation unit that calculates that the change rate of the rotation angle detected by the angle detector has risen to a steady value after increasing ,
A second constant velocity region determination unit that receives a signal from the angle change rate calculation unit and determines that the angular velocity of the control target is a constant velocity;
A logical product unit that takes a logical product of the determination results of the first constant velocity region determination unit and the second constant velocity region determination unit and outputs the result to the maximum speed determination unit ;
Sampling the angular velocity detected by the angular velocity detector at the time when the signal indicating that the constant velocity is obtained from the logical product unit is compared with the maximum value set in advance. If it is not equal, the fastest determination unit for self-diagnosis as an abnormality ,
A control device comprising: A motor that rotates the controlled object;
An angular velocity detector for detecting the angular velocity of the motor;
An angle detector for detecting the rotation angle of the motor;
An angle pattern generator for generating a command value to rotate the control target with a step-like angle command;
An angle subtractor for calculating a deviation between an angle detected by the angle detector and an angle command output by the angle pattern generator;
An angle deviation amplifier for amplifying the output of the angle subtractor;
An angular velocity subtractor for calculating a deviation between the output of the angular deviation amplifier and the angular velocity detected by the angular velocity detector;
An angular velocity deviation amplifier that amplifies the output of the angular velocity subtractor;
A power amplifier that amplifies the output of the angular velocity deviation amplifier and supplies current to the motor;
A current detector for detecting the current flowing through the motor;
A motor current determination unit for determining that the magnitude of the motor current detected by the current detector has decreased below a predetermined value after being reduced from a steady value ;
A first constant velocity region determining unit that receives the signal from the motor current determining unit and determines that the angular velocity of the control target has become a constant velocity;
An angle change rate calculation unit for calculating the change rate of the rotation angle detected by the angle detector;
A second constant velocity region determining unit that determines from the output of the angle change rate calculating unit that the angular velocity of the controlled object is a constant velocity;
A logical product unit that takes a logical product of the determination results of the first constant velocity region determination unit and the second constant velocity region determination unit and outputs the result to the maximum speed determination unit ;
Sampling the angular velocity detected by the angular velocity detector at the time when the signal indicating that the constant velocity is obtained from the logical product unit is compared with the maximum value set in advance. If it is not equal, the fastest determination unit to self-diagnose as an abnormality ,
A control device comprising: A motor that rotates the controlled object;
An angular velocity detector for detecting the angular velocity of the motor;
An angular acceleration detector for detecting the angular acceleration of the motor;
An angular velocity pattern generating unit that generates a command value to rotate the controlled object with a step-like angular velocity command;
An angular velocity subtractor for calculating a deviation between the output of the angular velocity pattern generation unit and the angular velocity detected by the angular velocity detector;
An angular velocity deviation amplifier that amplifies the output of the angular velocity subtractor;
A power amplifier that amplifies the output of the angular velocity deviation amplifier and supplies current to the motor;
A current detector for detecting a current flowing through the motor;
An angular acceleration determination unit that determines the magnitude of angular acceleration detected by the angular acceleration detector;
A constant velocity region determining unit that determines that the angular velocity of the control target is a constant velocity from the output of the angular acceleration determining unit ;
When the signal indicating the constant speed is received from the constant speed region determination unit, the angular speed detected by the angular speed detector is sampled and compared with the preset maximum speed value. Is the highest speed judgment unit that self-diagnosis as normal, if not equal, and abnormal ,
A control device comprising: A motor that rotates the controlled object;
An angular velocity detector for detecting the angular velocity of the motor;
An angular velocity pattern generating unit that generates a command value to rotate the controlled object with a step-like angular velocity command;
An angular velocity subtractor for calculating a deviation between the output of the angular velocity pattern generation unit and the angular velocity detected by the angular velocity detector;
An angular velocity deviation amplifier that amplifies the output of the angular velocity subtractor;
A power amplifier that amplifies the output of the angular velocity deviation amplifier and supplies current to the motor;
A current detector for detecting the current flowing through the motor;
An angular velocity change rate calculating unit for calculating a change rate of the angular velocity detected by the angular velocity detector;
A constant velocity region determining unit that determines that the angular velocity of the control target is a constant velocity from the output of the angular velocity change rate calculating unit ;
When the signal indicating the constant speed is received from the constant speed region determination unit, the angular speed detected by the angular speed detector is sampled and compared with the preset maximum speed value. Is the fastest determination unit that self-diagnoses as normal, if not equal, and abnormal ,
A control device comprising: A motor that rotates the controlled object;
An angular velocity detector for detecting the angular velocity of the motor;
An angular velocity pattern generating unit that generates a command value to rotate the controlled object with a step-like angular velocity command;
An angular velocity subtractor for calculating a deviation between the output of the angular velocity pattern generation unit and the angular velocity detected by the angular velocity detector;
An angular velocity deviation amplifier that amplifies the output of the angular velocity subtractor;
A power amplifier that amplifies the output of the angular velocity deviation amplifier and supplies current to the motor;
A current detector for detecting a current flowing through the motor;
A motor current determination unit for determining that the magnitude of the motor current detected by the current detector has decreased below a predetermined value after being reduced from a steady value ;
A constant speed region determination unit that receives a signal from the motor current determination unit and determines that the angular velocity of the control target has become a constant speed ;
When the signal indicating the constant speed is received from the constant speed region determination unit, the angular speed detected by the angular speed detector is sampled and compared with the preset maximum speed value. Is the highest speed judgment unit that self-diagnosis as normal, if not equal, and abnormal ,
A control device comprising: A motor that rotates the controlled object;
An angular velocity detector for detecting the angular velocity of the motor;
An angle detector for detecting the rotation angle of the motor;
An angular velocity pattern generating unit that generates a command value to rotate the controlled object with a step-like angular velocity command;
An angular velocity subtractor for calculating a deviation between the output of the angular velocity pattern generation unit and the angular velocity detected by the angular velocity detector;
An angular velocity deviation amplifier that amplifies the output of the angular velocity subtractor;
A power amplifier that amplifies the output of the angular velocity deviation amplifier and supplies current to the motor;
A current detector for detecting a current flowing through the motor;
An angle change rate calculation unit that calculates that the change rate of the rotation angle detected by the angle detector has risen to a steady value after increasing ,
A constant speed region determination unit that receives a signal from the angle change rate calculation unit and determines that the angular velocity of the control target is constant ;
When the signal indicating the constant speed is received from the constant speed region determination unit, the angular speed detected by the angular speed detector is sampled and compared with the preset maximum speed value. Is the highest speed judgment unit that self-diagnosis as normal, if not equal, and abnormal ,
A control device comprising: A motor that rotates the controlled object;
An angular velocity detector for detecting the angular velocity of the motor;
An angular acceleration detector for detecting the angular acceleration of the motor;
An angular velocity pattern generating unit that generates a command value to rotate the controlled object with a step-like angular velocity command;
An angular velocity subtractor for calculating a deviation between the output of the angular velocity pattern generation unit and the angular velocity detected by the angular velocity detector;
An angular velocity deviation amplifier that amplifies the output of the angular velocity subtractor;
A power amplifier that amplifies the output of the angular velocity deviation amplifier and supplies current to the motor;
A current detector for detecting a current flowing through the motor;
An angular acceleration determination unit that determines the magnitude of angular acceleration detected by the angular acceleration detector;
A first constant velocity region determining unit that determines from the output of the angular acceleration determining unit that the angular velocity of the control target is a constant velocity;
An angular velocity change rate calculating unit for calculating a change rate of the angular velocity detected by the angular velocity detector;
A second constant velocity region determination unit that determines from the output of the angular velocity change rate calculation unit that the angular velocity of the controlled object is a constant velocity;
A logical product unit that takes a logical product of the determination results of the first constant velocity region determination unit and the second constant velocity region determination unit and outputs the result to the maximum speed determination unit ;
Sampling the angular velocity detected by the angular velocity detector at the time when the signal indicating that the constant velocity is obtained from the logical product unit is compared with the maximum value set in advance. If it is not equal, the fastest determination unit for self-diagnosis as an abnormality ,
A control device comprising: A motor that rotates the controlled object;
An angular velocity detector for detecting the angular velocity of the motor;
An angular acceleration detector for detecting the angular acceleration of the motor;
An angular velocity pattern generating unit that generates a command value to rotate the controlled object with a step-like angular velocity command;
An angular velocity subtractor for calculating a deviation between the output of the angular velocity pattern generation unit and the angular velocity detected by the angular velocity detector;
An angular velocity deviation amplifier that amplifies the output of the angular velocity subtractor;
A power amplifier that amplifies the output of the angular velocity deviation amplifier and supplies current to the motor;
A current detector for detecting a current flowing through the motor;
An angular acceleration determination unit that determines the magnitude of angular acceleration detected by the angular acceleration detector;
A first constant velocity region determining unit that determines from the output of the angular acceleration determining unit that the angular velocity of the control target is a constant velocity;
A motor current determination unit for determining that the magnitude of the motor current detected by the current detector has decreased below a predetermined value after being reduced from a steady value ;
A second constant speed region determination unit that receives the signal from the motor current determination unit and determines that the angular velocity of the control target has become a constant speed;
A logical product unit that takes a logical product of the determination results of the first constant velocity region determination unit and the second constant velocity region determination unit and outputs the result to the maximum speed determination unit ;
Sampling the angular velocity detected by the angular velocity detector at the time when the signal indicating that the constant velocity is obtained from the logical product unit is compared with the maximum value set in advance. If it is not equal, the fastest determination unit for self-diagnosis as an abnormality ,
A control device comprising: A motor that rotates the controlled object;
An angular velocity detector for detecting the angular velocity of the motor;
An angle detector for detecting the rotation angle of the motor;
An angular acceleration detector for detecting the angular acceleration of the motor;
An angular velocity pattern generating unit that generates a command value to rotate the controlled object with a step-like angular velocity command;
An angular velocity subtractor for calculating a deviation between the output of the angular velocity pattern generation unit and the angular velocity detected by the angular velocity detector;
An angular velocity deviation amplifier that amplifies the output of the angular velocity subtractor;
A power amplifier that amplifies the output of the angular velocity deviation amplifier and supplies current to the motor;
A current detector for detecting a current flowing through the motor;
An angular acceleration determination unit that determines the magnitude of angular acceleration detected by the angular acceleration detector;
A first constant velocity region determining unit that determines from the output of the angular acceleration determining unit that the angular velocity of the control target is a constant velocity;
An angle change rate calculation unit that calculates that the change rate of the rotation angle detected by the angle detector has risen to a steady value after increasing ,
A second constant velocity region determination unit that receives the signal from the angle change rate calculation unit and determines that the angular velocity of the control target has become a constant velocity;
A logical product unit that takes a logical product of the determination results of the first constant velocity region determination unit and the second constant velocity region determination unit and outputs the result to the maximum speed determination unit ;
Sampling the angular velocity detected by the angular velocity detector at the time when the signal indicating that the constant velocity is obtained from the logical product unit is compared with the maximum value set in advance. If it is not equal, the fastest determination unit for self-diagnosis as an abnormality ,
A control device comprising: A motor that rotates the controlled object;
An angular velocity detector for detecting the angular velocity of the motor;
An angular velocity pattern generating unit that generates a command value to rotate the controlled object with a step-like angular velocity command;
An angular velocity subtractor for calculating a deviation between the output of the angular velocity pattern generation unit and the angular velocity detected by the angular velocity detector;
An angular velocity deviation amplifier that amplifies the output of the angular velocity subtractor;
A power amplifier that amplifies the output of the angular velocity deviation amplifier and supplies current to the motor;
A current detector for detecting a current flowing through the motor;
An angular velocity change rate calculating unit for calculating a change rate of the angular velocity detected by the angular velocity detector;
A first constant velocity region determination unit that determines from the output of the angular velocity change rate calculation unit that the angular velocity of the controlled object is a constant velocity;
A motor current determination unit for determining that the magnitude of the motor current detected by the current detector has decreased below a predetermined value after being reduced from a steady value ;
A second constant speed region determination unit that receives the signal from the motor current determination unit and determines that the angular velocity of the control target has become a constant speed;
A logical product unit that takes a logical product of the determination results of the first constant velocity region determination unit and the second constant velocity region determination unit and outputs the result to the maximum speed determination unit ;
Sampling the angular velocity detected by the angular velocity detector at the time when the signal indicating that the constant velocity is obtained from the logical product unit is compared with the maximum value set in advance. If it is not equal, the fastest determination unit to self-diagnose as abnormal
A control device comprising: A motor that rotates the controlled object;
An angular velocity detector for detecting the angular velocity of the motor;
An angle detector for detecting the rotation angle of the motor;
An angular velocity pattern generating unit that generates a command value to rotate the controlled object with a step-like angular velocity command;
An angular velocity subtractor for calculating a deviation between the output of the angular velocity pattern generation unit and the angular velocity detected by the angular velocity detector;
An angular velocity deviation amplifier that amplifies the output of the angular velocity subtractor;
A power amplifier that amplifies the output of the angular velocity deviation amplifier and supplies current to the motor;
A current detector for detecting a current flowing through the motor;
An angular velocity change rate calculating unit that calculates that the change rate of the angular velocity detected by the angular velocity detector has risen to a steady value after increasing ,
A first constant velocity region determination unit that receives a signal from the angular velocity change rate calculation unit and determines that the angular velocity of the control target has become a constant velocity;
An angle change rate calculation unit for calculating the change rate of the rotation angle detected by the angle detector;
A second constant velocity region determining unit that determines from the output of the angle change rate calculating unit that the angular velocity of the controlled object is a constant velocity;
A logical product unit that takes a logical product of the determination results of the first constant velocity region determination unit and the second constant velocity region determination unit and outputs the result to the maximum speed determination unit ;
Sampling the angular velocity detected by the angular velocity detector at the time when the signal indicating that the constant velocity is obtained from the logical product unit is compared with the maximum value set in advance. If it is not equal, the fastest determination unit for self-diagnosis as an abnormality ,
A control device comprising: A motor that rotates the controlled object;
An angular velocity detector for detecting the angular velocity of the motor;
An angle detector for detecting the rotation angle of the motor;
An angular velocity pattern generating unit that generates a command value to rotate the controlled object with a step-like angular velocity command;
An angular velocity subtractor for calculating a deviation between the output of the angular velocity pattern generation unit and the angular velocity detected by the angular velocity detector;
An angular velocity deviation amplifier that amplifies the output of the angular velocity subtractor;
A power amplifier that amplifies the output of the angular velocity deviation amplifier and supplies current to the motor;
A current detector for detecting a current flowing through the motor;
A motor current determination unit for determining that the magnitude of the motor current detected by the current detector has decreased below a predetermined value after being reduced from a steady value ;
A first constant speed region determination unit that receives a signal from the motor current determination unit and determines that the angular velocity of the control target has become a constant speed;
An angle change rate calculation unit that calculates that the change rate of the rotation angle detected by the angle detector has risen to a steady value after increasing ,
A second constant velocity region determination unit that receives the signal from the angle change rate calculation unit and determines that the angular velocity of the control target has become a constant velocity;
A logical product unit that takes a logical product of the determination results of the first constant velocity region determination unit and the second constant velocity region determination unit and outputs the result to the maximum speed determination unit ;
Sampling the angular velocity detected by the angular velocity detector at the time when the signal indicating that the constant velocity is obtained from the logical product unit is compared with the maximum value set in advance. If it is not equal, the fastest determination unit for self-diagnosis as an abnormality ,
A control device comprising:

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