力控控制策略生成器使用指南.docx

力控控制策略生成器使用指南.docx

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力控控制策略生成器使用指南

力控控制策略生成器使用指南

2004年6月

北京三维力控科技

技术部

名目

目录..............................2

第一章概述......................6

1．1PC操纵概述.........................................6

1．2策略在力控中的结构..................................7

1．3力控策略例如........................................8

第二章操纵模块的差不多概念...........9

2．1简介................................................9

2．2差不多原理............................................9

2．3差不多准那么...........................................10

2．5操纵功能模块的构成及相关程序........................10

第三章常用典型算法...............12

3.1差不多功能块..........................................12

3.2变量功能块..........................................13

3．2．1常数.............................................................................................................................13

3．2．2数据库输入变量.........................................................................................................14

3．2．3数据库输出变量.........................................................................................................14

3．2．4系统变量.....................................................................................................................15

3．2．5输入变量.....................................................................................................................16

3．2．6输出变量.....................................................................................................................16

3.3数学运算功能块......................................16

3．3．1加法.............................................................................................................................17

3．3．2减法.............................................................................................................................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绝对值.........................................................................................................................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指数...........................................................................................................................24

3．3．15常用对数...................................................................................................................24

3．3．16自然对数...................................................................................................................25

3．3．17平方根.......................................................................................................................25

3．3．18取整...........................................................................................................................26

3.4逻辑功能块..........................................26

3．4．1逻辑与.........................................................................................................................27

3．4．2逻辑或.........................................................................................................................28

3．4．3逻辑异或.....................................................................................................................28

3．4．4逻辑非.........................................................................................................................29

3．4．5逻辑与非.....................................................................................................................29

3．4．6逻辑或非.....................................................................................................................30

3．4．7两个输入ON有效或门.............................................................................................31

3．4．8三个输入ON有效或门.............................................................................................31

3．4．9三个输入不一致.........................................................................................................32

3．4．10开关...........................................................................................................................32

3．4．11定长度脉冲...............................................................................................................33

3．4．12最大时限脉冲...........................................................................................................34

3．4．13最小时限脉冲...........................................................................................................34

3．4．14带死区的等于比较...................................................................................................35

3．4．15带死区的不等于比较...............................................................................................35

3．4．16带死区的大于等于比较...........................................................................................36

3．4．17带死区的大于比较...................................................................................................36

3．4．18带死区的小于比较...................................................................................................37

3．4．19带死区的小于等于比较...........................................................................................38

3．4．20延时...........................................................................................................................38

3．4．21ON延时.......................................................................................................................39

3．4．22OFF延时.....................................................................................................................39

3．4．23看门狗.......................................................................................................................40

3．4．24选通器.......................................................................................................................41

3．4．25变化检测...................................................................................................................42

3．4．26RS触发器...................................................................................................................42

3.5程序操纵功能块......................................43

3．5．1跳转.............................................................................................................................43

3．5．2调用.............................................................................................................................44

3．5．3返回.............................................................................................................................44

3.6操纵算法功能块......................................44

3．6．1脉冲输入点.................................................................................................................45

3．6．2纯滞后补偿.................................................................................................................46

3．6．3滤波点.........................................................................................................................47

3．6．4一阶传递函数点.........................................................................................................47

3．6．5计数器点.....................................................................................................................48

3．6．6计时器点.....................................................................................................................50

3．6．7运算器.........................................................................................................................51

3．6．8累计点.........................................................................................................................55

3．6．9限值点.........................................................................................................................56

3．6．10比例点.......................................................................................................................57

3．6．11PID操纵点................................................................................................................57

3．6．12比值操纵点...............................................................................................................62

3．6．12斜坡操纵点...............................................................................................................63

3．6．13开关操纵器51点.....................................................................................................65

3．6．14温压补偿点...............................................................................................................66

3．6．15通用线性化点...........................................................................................................68

3．6．16线性变换点...............................................................................................................70

3．6．17高低选点...............................