Patent ID: 8825299
Filing Date: 2014-09-02
Classification: B62D,G05B

Abstract:
1. A control system comprising: a main control device that generates output for controlling a controlled object in accordance with an input signal; a sub-control device for monitoring an operating state of the main control device; a communication-processing unit for communicating between the main control device and the sub-control device; a limitation unit for limiting the output of the main control device in accordance with the monitoring by the sub-control device; wherein the main control device includes a first signal-processing unit that generates a first signal, which is used for generating the output, in accordance with the input signal, a second signal-processing unit that generates a second signal, which is substantially equivalent to the first signal, in accordance with the input signal, and an initialization-processing unit that periodically initializes the second signal, the communication-processing unit has a function of transmitting the first signal and the second signal from the main control device to the sub-control device, the sub-control device includes a comparison-judgment-processing unit that compares the first signal with the second signal, which are transmitted from the main control device via the communication-processing unit, and judges that an abnormality occurs when a state, in which a deviation between the both signals is greater than equal to a predetermined value, is continued in a time being longer than or equal to a first predetermined time, an initialization-judgment-processing unit that judges that an abnormality occurs when a state, in which the second signal is not initialized by the initialization-processing unit, is continued in a time being longer than or equal to a second predetermined time, and an abnormality-judging unit that judges that an abnormality occurs when at least one of the comparison-judgment-processing unit and the initialization-judgment-processing unit judges that the abnormality occurs, and the limitation unit is configured in such a way that the limitation unit adds a predetermined limitation to the output of the main control device, when the abnormality-judging unit judges that the abnormality occurs; wherein the initialization-processing unit is configured in such a way that the initialization-processing unit initializes the second signal, after the communication-processing unit performs the transmission, and a process cycle of the second signal-processing unit is defined to be longer than an initialization cycle of the initialization-processing unit.