目 录..............................2
第一章 概 述......................6
1．1 PC控制概述.........................................6
1．2策略在力控中的结构..................................7
1．3力控策略示例........................................8
第二章 控制模块的基本概念...........9
2．1 简介................................................9
2．2 基本原理............................................9
2．3 基本准则...........................................10
2．5控制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 基本功能块..........................................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
3．4．21 ON延时.......................................................................................................................39
3．4．22 OFF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
3．4．26 RS触发器...................................................................................................................42
3.5 程序控制功能块......................................43
3．5．1 跳转.............................................................................................................................43
3．5．2 调用.............................................................................................................................44
3．5．3 返回.............................................................................................................................44
3.6 控制算法功能块......................................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 计算器.........................................................................................................................51
3．6．8 累计点.........................................................................................................................55
3．6．9 限值点.........................................................................................................................56
3．6．10 比例点.......................................................................................................................57
3．6．11 PID控制点................................................................................................................57
3．6．12 比值控制点...............................................................................................................62
3．6．12 斜坡控制点...............................................................................................................63
3．6．13 开关控制器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...................................................................................................................71
3．6．18 三者取中点...............................................................................................................71
3．6．19 开关控制器13点.....................................................................................................72
3．6．20 偏差限值点...............................................................................................................72
3．6．21 数字组合点...............................................................................................................73
3．6．22 模拟输入...................................................................................................................75
3．6．23 模拟输出...................................................................................................................76
3．6．24 数字输入...................................................................................................................77
3．6．25 数字输出...................................................................................................................77
3．6．26 变化率点...................................................................................................................78
3．6．27 加权平均滤波...........................................................................................................79
3．6．28 脉宽调制输出...........................................................................................................80
第四章 开发使用指南...............81
4.1菜单的使用..........................................81
4．1．1 文件.............................................................................................................................81
4．1．2 编辑.............................................................................................................................82
4．1．3 查看.............................................................................................................................82
4．1．4 操作.............................................................................................................................83
4．1．5 编译和运行.................................................................................................................83
4．1．6 窗口.............................................................................................................................84
4．1．7 帮助.............................................................................................................................84
4.2 工具条的使用........................................84
4.3 导航器的使用........................................85
4．4 控制策略在目标设备上执行...........................86
4．5 控制策略的调试手段.................................86
第五章 开发使用示例...............87
5．1 在策略中引用db中的变量............................87
5．2 PID控制...........................................89
5．3 利用控制策略实现联锁控制的应用示例.................90
附录..............................92
力控控制策略.pdf
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