JPS5667418A - Moving body control system - Google Patents

Abstract

PURPOSE: To execute the control stably without step-out of the control system, by detecting that something abnormal has occurred, and not using the phase difference of its phase as a phase difference data, in case when abnormality such as omission of a pulse, mixing of a noise, etc. has occurred in a position input signal.

CONSTITUTION: A position signal input and a control output signal are provided in phase to the phase difference detection part 3, the detection part 3 calculates the phase difference data TPNU and TPND at every rise and breaking of a pulse of the phase which is input, and store them in the phase difference data buffer 7. On the other hand, the abnormal signal detection part 6 checks whether an abnormal input pulse exists or not, and stores the check result corresponding to the phase difference data in the phase difference data discriminator 8. The phase difference data from this discriminator 8, and the number D of abnormal input data are read by the phase correction value operation part 9, and the phase correction value TP' is calculated and output. Since this correction value TP' does not use the phase difference of the phase in which something abnormal has occurred, as a phase difference data, the control can be executed stably without step-out of the control system.

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