力控控制策略
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力控®控制策略生成器使用指南
2004 年 6 月 北京三维力控科技有限公司
技术部
目录
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
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
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
3.4 逻辑功能块 .......................................... 26
3．4．1 逻辑与........................来自百度文库................................................................................................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
2004 年 6 月 北京三维力控科技有限公司
技术部
目录
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
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
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
3.4 逻辑功能块 .......................................... 26
3．4．1 逻辑与........................来自百度文库................................................................................................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