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標題: 力控控制策略 [打印本頁]
作者: 江潭落月 時間: 2013-7-31 09:33
標題: 力控控制策略
目 錄..............................2
第一章 概 述......................6
1．1 PC控制概述.........................................6
1．2策略在力控中的結構..................................7
1．3力控策略示例........................................8
第二章 控制模塊的基本概念...........9
2．1 簡介................................................9
2．2 基本原理............................................9
2．3 基本準則...........................................10
2．5控制功能模塊的構成及相關程序........................10
第三章 常用典型算法...............12
3.1 基本功能塊..........................................12
3.2變量功能塊..........................................13
3．2．1 常數.............................................................................................................................13
3．2．2 數據庫輸入變量.........................................................................................................14
3．2．3 數據庫輸出變量.........................................................................................................14
3．2．4 系統變量.....................................................................................................................15
3．2．5 輸入變量.....................................................................................................................16
3．2．6 輸出變量.....................................................................................................................16
3.3數學運算功能塊......................................16
3．3．1 加法.............................................................................................................................17
3．3．2 減法.............................................................................................................................18
3．3．3 乘法.............................................................................................................................18
3．3．4 除法.............................................................................................................................19
3．3．5 乘方.............................................................................................................................19
3．3．6 求余.............................................................................................................................20
3．3．7 絕對值.........................................................................................................................20
3．3．8 反余弦.........................................................................................................................21
3．3．9 反正弦.........................................................................................................................21
3．3．10 反正切.......................................................................................................................22
3．3．11 余弦...........................................................................................................................22
3．3．12 正切...........................................................................................................................23
3．3．13 正弦...........................................................................................................................23
3．3．14 指數...........................................................................................................................24
3．3．15 常用對數...................................................................................................................24
3．3．16 自然對數...................................................................................................................25
3．3．17 平方根.......................................................................................................................25
3．3．18 取整...........................................................................................................................26
3.4 邏輯功能塊..........................................26
3．4．1 邏輯與.........................................................................................................................27
3．4．2 邏輯或.........................................................................................................................28
3．4．3 邏輯異或.....................................................................................................................28
3．4．4 邏輯非.........................................................................................................................29
3．4．5 邏輯與非.....................................................................................................................29
3．4．6 邏輯或非.....................................................................................................................30
3．4．7 兩個輸入ON有效或門.............................................................................................31
3．4．8 三個輸入ON有效或門.............................................................................................31
3．4．9 三個輸入不一致.........................................................................................................32
3．4．10 開關...........................................................................................................................32
3．4．11 定長度脈沖...............................................................................................................33
3．4．12 最大時限脈沖...........................................................................................................34
3．4．13 最小時限脈沖...........................................................................................................34
3．4．14 帶死區的等于比較...................................................................................................35
3．4．15 帶死區的不等于比較...............................................................................................35
3．4．16 帶死區的大于等于比較...........................................................................................36
3．4．17 帶死區的大于比較...................................................................................................36
3．4．18 帶死區的小于比較...................................................................................................37
3．4．19 帶死區的小于等于比較...........................................................................................38
3．4．20 延時...........................................................................................................................38
3．4．21 ON延時.......................................................................................................................39
3．4．22 OFF延時.....................................................................................................................39
3．4．23 看門狗.......................................................................................................................40
3．4．24 選通器.......................................................................................................................41
3．4．25 變化檢測...................................................................................................................42
3．4．26 RS觸發器...................................................................................................................42
3.5 程序控制功能塊......................................43
3．5．1 跳轉.............................................................................................................................43
3．5．2 調用.............................................................................................................................44
3．5．3 返回.............................................................................................................................44
3.6 控制算法功能塊......................................44
3．6．1 脈沖輸入點.................................................................................................................45
3．6．2 純滯后補償.................................................................................................................46
3．6．3 濾波點.........................................................................................................................47
3．6．4 一階傳遞函數點.........................................................................................................47
3．6．5 計數器點.....................................................................................................................48
3．6．6 計時器點.....................................................................................................................50
3．6．7 計算器.........................................................................................................................51
3．6．8 累計點.........................................................................................................................55
3．6．9 限值點.........................................................................................................................56
3．6．10 比例點.......................................................................................................................57
3．6．11 PID控制點................................................................................................................57
3．6．12 比值控制點...............................................................................................................62
3．6．12 斜坡控制點...............................................................................................................63
3．6．13 開關控制器51點.....................................................................................................65
3．6．14 溫壓補償點...............................................................................................................66
3．6．15 通用線性化點...........................................................................................................68
3．6．16 線性變換點...............................................................................................................70
3．6．17 高低選點...................................................................................................................71
3．6．18 三者取中點...............................................................................................................71
3．6．19 開關控制器13點.....................................................................................................72
3．6．20 偏差限值點...............................................................................................................72
3．6．21 數字組合點...............................................................................................................73
3．6．22 模擬輸入...................................................................................................................75
3．6．23 模擬輸出...................................................................................................................76
3．6．24 數字輸入...................................................................................................................77
3．6．25 數字輸出...................................................................................................................77
3．6．26 變化率點...................................................................................................................78
3．6．27 加權平均濾波...........................................................................................................79
3．6．28 脈寬調制輸出...........................................................................................................80
第四章 開發使用指南...............81
4.1菜單的使用..........................................81
4．1．1 文件.............................................................................................................................81
4．1．2 編輯.............................................................................................................................82
4．1．3 查看.............................................................................................................................82
4．1．4 操作.............................................................................................................................83
4．1．5 編譯和運行.................................................................................................................83
4．1．6 窗口.............................................................................................................................84
4．1．7 幫助.............................................................................................................................84
4.2 工具條的使用........................................84
4.3 導航器的使用........................................85
4．4 控制策略在目標設備上執行...........................86
4．5 控制策略的調試手段.................................86
第五章 開發使用示例...............87
5．1 在策略中引用db中的變量............................87
5．2 PID控制...........................................89
5．3 利用控制策略實現聯鎖控制的應用示例.................90
附錄..............................92
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