闅ㄨ憲鏁�(sh霉)瀛椾俊铏�(h脿o)铏曠悊锛坉sp锛夋妧琛�(sh霉)鐨勭櫦(f膩)灞曪紝寰堝寰�(f霉)闆滅殑鎺у埗浠诲嫏(w霉)鍦ㄤ己鏈嶉﹨(q奴)鍕�(d貌ng)鍣ㄥ収(n猫i)灏辫兘铏曠悊浜�锛屼己鏈嶉﹨(q奴)鍕�(d貌ng)鍣ㄤ篃瓒婁締(l谩i)瓒婃櫤鑳藉寲[1]銆傚悓鏅�(sh铆)锛屽伐鎺ч牁(l菒ng)鍩熻秺渚�(l谩i)瓒婃垚鐔熺殑鐝�(xi脿n)鍫�(ch菐ng)绺界窔閫氫俊鎶€琛�(sh霉)涔熺偤鍩轰簬鍒嗗竷寮忔帶鍒堕珨绯荤殑闈堟椿妯″鍖栫殑鎺у埗瑷�(sh猫)瑷�(j矛)鐨勫(sh铆)琛屾彁渚涗簡鍙兘鎬�銆傚湒1渚挎槸涓€鍊�(g猫)鍒嗗竷寮忔帶鍒堕珨绯荤殑绲�(ji茅)妲�(g貌u)绨�(ji菐n)鍦�銆� [align=center] 鍦�1銆€鍩轰簬canopen绺界窔鐨勫垎甯冨紡閬�(y霉n)鍕�(d貌ng)鎺у埗绯荤当(t菕ng)[/align] 涓绘(j墨)鎺у埗鍣紙plc鎴栭亱(y霉n)鍕�(d貌ng)鎺у埗鍣級鍜屼己鏈嶉﹨(q奴)鍕�(d貌ng)鍣ㄤ箣闁撶殑閫氫俊鏄熀浜巆anopen妯�(bi膩o)婧�(zh菙n)鐨�銆傞€欏€�(g猫)瑙ｆ焙鏂规鍙互鐢ㄩ珮鎬ц兘妯″鍖栫殑鏂瑰紡锛屾柟渚跨殑寤虹珛寰�(f霉)闆滅殑澶氳桓鎺у埗鎳�(y墨ng)鐢ㄧ▼搴�?锛熷仼鈧€氫俊瑷�(sh猫)鍌欎笉闇€瑕佺法杓‖浠讹紝鍙灏�(du矛)宸插瓨鍦ㄧ殑鎺у埗绯荤当(t菕ng)鐨勭啊(ji菐n)鍠弮鏁�(sh霉)锛岄噸鏂拌ō(sh猫)瀹氬氨鍙互鎳�(y墨ng)鐢ㄤ簬鏂扮敘(ch菐n)鍝佷腑[2]?锛熸ⅱ閰濄劅^(gu貌)澧炲姞鎴栬€呭埅闄ゆ帶鍒跺厓浠讹紙浼烘湇椹�(q奴)鍕�(d貌ng)鍣�锛宨/o妯″鈥︹€︼級渚�(l谩i)绶ㄨ集閫�(j矛n)绋�锛岃€屼笉闇€瑕佸皪(du矛)鎺у埗绯荤当(t菕ng)鍋氬ぇ鐨勭法杓拰鏀瑰嫊(d貌ng)銆� 銆€銆€ 閫欑ó瑙ｆ焙鏂规鐨勯潏娲绘€ф槸鍦ㄥ伐妤�(y猫)鐢熺敘(ch菐n)鑷嫊(d貌ng)鍖栭亷(gu貌)绋嬩腑闀�(zh菐ng)鏈熶繚鎸佺(j矛ng)鐖�(zh膿ng)鎬т綅缃殑鏈€澶у劒(y艒u)鍕�(sh矛):鍦ㄧ府娓涚敘(ch菐n)鍝佸拰鎶€琛�(sh霉)鐢熷懡鍛ㄦ湡鐨勫弽楗嬩腑锛岃兘鏂逛究鐨勫皪(du矛)瑷�(sh猫)鍌欓€�(j矛n)琛岀法杓拰鍗囩礆(j铆)銆傜敱浜庢暩(sh霉)瀛楅浕娴�锛岄€熷害鍜屼綅缃己鏈嶇挵(hu谩n)閮芥暣鍚堝湪浜嗕己鏈嶉﹨(q奴)鍕�(d貌ng)鍣ㄤ腑锛屼篃澶уぇ鏀归€�(j矛n)浜嗕己鏈嶆€ц兘銆傜劇(w煤)璜栨槸鎻掕(b菙)杌歌粚璺￠倓鏄崹(d煤)绔嬭桓杌岃贰锛岄兘蹇呴爤鑳介€氶亷(gu貌)鏈€绲傞亱(y霉n)鍕�(d貌ng)鎺у埗鎳�(y墨ng)鐢ㄧ▼搴忕煡閬撶附绶氶€氫俊鍙冩暩(sh霉)鍜屾帶鍒朵换鍕�(w霉)鐨勫垎閰�銆傚湪鏈枃鐨勭涓€閮ㄥ垎灏囪┏绱�(x矛)瑷庤珫閫欏€�(g猫)鍟�(w猫n)椤�銆傜浜岄儴鍒嗭紝涓昏閲濆皪(du矛)鎻掑€兼硶鐨勮桓鍦ㄧ董璀�(h霉)杌搁枔閰嶅悎鏅�(sh铆)甯搁渶瑕佸煼(zh铆)琛岀殑寮�(qi谩ng)鍒跺悓姝ュ懡浠�銆傛湰鏂囩殑鏈€鍚庝竴閮ㄥ垎锛岄嚌灏�(du矛)浼烘湇椹�(q奴)鍕�(d貌ng)鍣ㄨō(sh猫)瑷�(j矛)璎涜堪濡備綍鑳藉寰楀埌鏈€濂界殑绮惧害鍜屽嫊(d貌ng)鎱�(t脿i)鎬ц兘銆� 鍒嗗竷寮忛亱(y霉n)鍕�(d貌ng)鎺у埗楂旂郴 銆€銆€ 鍦ㄥ垎甯冨紡閬�(y霉n)鍕�(d貌ng)鎺у埗楂旂郴涓�锛屾櫤鑳戒己鏈嶉﹨(q奴)鍕�(d貌ng)鍣ㄥ繀闋堟彁渚涚附绶氶€氫俊瑁濈疆锛屽苟鑳藉煼(zh铆)琛岄珮姘村钩鐨勮桓鎺у埗浠诲嫏(w霉)?锛熷仼鈧缃殑瑷�(sh猫)瑷�(j矛)鍜岄亱(y霉n)鍕�(d貌ng)鎺у埗浠诲嫏(w霉)鐨勫垎閰嶆槸鎼缓涓€鍊�(g猫)楂樻€ц兘閬�(y霉n)鍕�(d貌ng)鎺у埗绯荤当(t菕ng)鐨勯棞(gu膩n)閸甸粸(di菐n)銆傛彃瑁�(b菙)閬�(y霉n)鍕�(d貌ng)鎺у埗绋嬪簭鏄€氶亷(gu貌)涓绘(j墨)閬�(y霉n)鍕�(d貌ng)鎺у埗鍣ㄨ▓(j矛)绠楀杌歌粚璺�锛岀劧鍚庡啀閫氶亷(gu貌)绺界窔鎶婅桓浣嶇疆瑷�(sh猫)瀹氶粸(di菐n)鐧�(f膩)閫佸埌姣忓€�(g猫)浼烘湇椹�(q奴)鍕�(d貌ng)鍣ㄤ腑銆傛噳(y墨ng)鐢ㄧ▼搴忓拰鎺у埗閫�(j矛n)绋嬩粛鐒舵槸鍦ㄤ富姗�(j墨)plc鎴栭亱(y霉n)鍕�(d貌ng)鎺у埗鍣ㄤ腑瑷�(sh猫)瀹氱殑銆備絾鏄紝浼烘湇椹�(q奴)鍕�(d貌ng)鍣ㄧ偤閬�(y霉n)鍕�(d貌ng)鎺у埗鎵挎摂(d膩n)浜嗘洿澶氱殑璨�(z茅)浠�锛屾瘮濡傝粺浠跺拰纭欢鐨勯檺浣嶇洠(ji膩n)绠★紝闆绘(j墨)鍒跺嫊(d貌ng)妯″紡鎺у埗鍜屾(j墨)鍣ㄨ(di脿o)瑭︽檪(sh铆)浣庨€熼亱(y霉n)琛岀殑瀹夊叏鎬�銆傝粚璺＄櫦(f膩)鐢熷櫒涔熻兘澶犻€氶亷(gu貌)鏈€绲傛噳(y墨ng)鐢ㄧ▼搴忚鏁村悎鍒颁己鏈嶉﹨(q奴)鍕�(d貌ng)鍣ㄤ腑銆傞€欐ǎ灏变娇寰楁彃鍊兼硶杌告噳(y墨ng)鐢ㄧ▼搴忓拰鐛�(d煤)绔嬫噳(y墨ng)鐢ㄧ▼搴忕殑宸垾鏇村ぇ銆� 銆€銆€ 寰堝姗�(j墨)鍣ㄤ汉鍜屾(j墨)鍣ㄥ伐鍏疯姹傛彃鍊奸亱(y霉n)鍕�(d貌ng)鎺у埗锛堝繀闋堣鑳介€ｇ簩(x霉)瑾�(di脿o)鏁翠竴閮ㄥ垎杌革級銆傚湪閫欏€�(g猫)鏂规涓�锛岃桓杌岃贰蹇呴爤閫氶亷(gu貌)鐩稿悓楂橀牷鐜囩殑铏曠悊鍣ㄧ殑瑷�(j矛)绠椾互渚跨董璀�(h霉)杌搁枔鍗�(xi茅)瑾�(di脿o)銆� [align=center] 鍦�2銆€鎻掕(b菙)鍗�(xi茅)瑾�(di脿o)閬�(y霉n)鍕�(d貌ng)鎺у埗绲�(ji茅)妲�(g貌u)鍦朳/align] 濡傚湒2鎵€绀猴紝閬╁悎澶氳桓鎻掑€肩殑鍒嗗竷寮忛亱(y霉n)鍕�(d貌ng)鎺у埗楂旂郴鏄熀浜庝己鏈嶉﹨(q奴)鍕�(d貌ng)鍣ㄧ殑鏅鸿兘鍖�锛岃兘澶犲煼(zh铆)琛屽寘鎷綅缃€熷害鍜屽付闆诲姏杞�(zhu菐n)鎻涚殑闆绘祦鐠�(hu谩n)鐨勫畬鏁翠己鏈嶆帶鍒朵换鍕�(w霉)銆備富姗�(j墨)閬�(y霉n)鍕�(d貌ng)鎺у埗鍣ㄩ€�(j矛n)琛屽杌歌粚璺¤▓(j矛)绠楀苟閫氶亷(gu貌)涓€绯诲垪绺界窔閫氫俊灏囦綅缃ō(sh猫)缃粸(di菐n)鐨勬暩(sh霉)瀛椾俊铏�(h脿o)鐧�(f膩)閫佸埌姣忓€�(g猫)浼烘湇椹�(q奴)鍕�(d貌ng)鍣ㄤ腑銆備笁娆℃彃鍊兼槸鐐轰簡鍦ㄤ己鏈嶇挵(hu谩n)鍙栨ǎ鏈熷収(n猫i)鐢熸垚杓粨绶�锛岀敱鍦ㄤ己鏈嶉﹨(q奴)鍕�(d貌ng)鍣ㄤ腑鍏╁€�(g猫)鐩搁劙鐨勮ō(sh猫)瀹氶粸(di菐n)涓緱鍒�銆傜暥(d膩ng)缍(h霉)涓€鍊�(g猫)骞虫粦閬�(y霉n)鍕�(d貌ng)鎺у埗鏅�(sh铆)锛岄€欑ó鎶€琛�(sh霉)鑳藉ぇ閲忔笡灏戝崰鐢ㄧ殑涓绘帶鍒跺櫒鐨勮硣婧愶紙瑷�(sh猫)缃粸(di菐n)鐢熸垚闋荤巼锛�銆傞€欐ǎ鍦ㄧ郸瀹氱殑绺界窔鎬ц兘涓紝灏辫兘鎺у埗澶ч噺鐨勮桓浜�銆傚湒锛撹〃绀轰簡涓夋鎻掑€肩殑褰遍熆銆傚湪閫欏€�(g猫)鎳�(y墨ng)鐢ㄧ▼搴忎腑锛岃ō(sh猫)瀹氶粸(di菐n)鐢熸垚闋荤巼鐐�100hz锛屼己鏈嶇挵(hu谩n)閲囨ǎ鏈熺偤0.5ms銆� [align=center] a锛夈€€鐒�(w煤)鎻掕(b菙)鎯呮硜 b锛夈€€涓夋鎻掕(b菙)鎯呮硜 鍦�3銆€浼烘湇椹�(q奴)鍕�(d貌ng)涓笁娆℃彃瑁�(b菙)褰遍熆[/align] 鍦ㄨ嚜鍕�(d貌ng)鍖栭牁(l菒ng)鍩熺殑澶у鏁�(sh霉)閬�(y霉n)鍕�(d貌ng)鎺у埗涓紝涓嶅厑瑷辫桓锛堣桓杌岃贰鐛�(d煤)绔嬶級闁撴彃鍊�銆傞€欏€�(g猫)鏂规硶涓嶅啀闇€瑕侀泦涓殑杌岃贰瑷�(j矛)绠楋紝閫欏氨浣垮緱杌岃贰瑷�(j矛)绠楀彲浠ュ垎閰嶅埌姣忓€�(g猫)浼烘湇椹�(q奴)鍕�(d貌ng)鍣ㄤ腑鍘�銆傚湒锛斿氨鏄浉鎳�(y墨ng)鐨勬帶鍒堕珨绯�銆� 涓绘(j墨)plc鎺у埗鍣ㄥ緢閬╁悎鎻愪緵鎳�(y墨ng)鐢ㄥ簭鍒楁帶鍒�銆傞€欏€�(g猫)瑙ｆ焙鏂规鍩轰簬鑳芥彁渚涢珮鎬ц兘閬�(y霉n)鍕�(d貌ng)鎺у埗骞跺畬鍏ㄦ暣鍚堝埌plc鐠�(hu谩n)澧冧腑鐨勬櫤鑳戒己鏈嶉﹨(q奴)鍕�(d貌ng)鍣�銆傛墍浠ワ紝鑳藉湪iec 1131-3妯�(bi膩o)婧�(zh菙n)绋嬪簭瑾�(y菙)瑷€涓緱鍒伴珮姘村钩鐨勯亱(y霉n)鍕�(d貌ng)鎺у埗鍙冩暩(sh霉)銆� [align=center] 鍦�4銆€鍩轰簬plc鐨勫垎甯冨紡鎺у埗绯荤当(t菕ng)[/align] canopen閫氫俊 銆€銆€ 鐝�(xi脿n)鍫�(ch菐ng)绺界窔鏄噸瑕佺殑绲勬垚閮ㄥ垎鍜屼富瑕佺壒榛�(di菐n)锛岄浼煎悓姝�锛屾洿鏂扮巼鎴栭€氫俊鍙冩暩(sh霉)娓�(c猫)瀹氭暣鍊�(g猫)绯荤当(t菕ng)鐨勬€ц兘銆傞伕鎿嘽an鏄洜?y脿n)妯楊弨姣嶅挌?锛岀┅(w臎n)瀹氬拰浣庢垚鏈琜3][4]銆傚偝杓搁€熺巼鍦�40m浠ュ収(n猫i)鑳介仈(d谩)鍒�1mbps闅ㄨ憲璺濋洟鐨勬媺闀�(zh菐ng)鏈�(hu矛)鏈夋墍闄嶄綆銆俢an绯诲垪绺界窔寤ｆ硾鐨勬噳(y墨ng)鐢ㄥ湪鑷嫊(d貌ng)鍖栧拰鑷嫊(d貌ng)鍖栧伐妤�(y猫)涓�锛岄檷浣庝簡纭欢瀹夎鐨勬垚鏈€俢an鏄熀浜庡叕鍏辩附绶氫笂缍�(j墨ng)閬�(gu貌)淇℃伅鍎�(y艒u)鍏堢礆(j铆)閬告搰鐨勪俊鎭唬鎾�銆傚悓姝ュ拰鐣版杞�(zhu菐n)鎻涙ā鍨嬪湪can涓槸鍗€(q奴)鍒嗛枊鐨勶紝鐣版淇℃伅閲嶉粸(di菐n)鏄己鏈嶉﹨(q奴)鍕�(d貌ng)鍣ㄥ弮鏁�(sh霉)瑷�(sh猫)缃�锛岃€屽悓姝ヤ俊鎭噸榛�(di菐n)鏄亱(y霉n)鍕�(d貌ng)鎺у埗鍜岃桓杌岃贰瑾�(di脿o)鏁�銆� 銆€銆€ 灏堟敞浜庝己鏈嶉﹨(q奴)鍕�(d貌ng)鍣ㄦ噳(y墨ng)鐢╟anopen ds402宸茬稉(j墨ng)钀藉(sh铆)銆傚湪閫欏€�(g猫)鏂规涓�锛岀洰妯�(bi膩o)浣嶇疆閫氶亷(gu貌)绺界窔鐢变富姗�(j墨)plc鎺у埗鍣ㄧ櫦(f膩)閫佺郸浼烘湇椹�(q奴)鍕�(d貌ng)鍣紝鐒跺悗鐢变己鏈嶉﹨(q奴)鍕�(d貌ng)鍣ㄩ€�(j矛n)琛岃粚璺¤(di脿o)鏁磋▓(j矛)绠楀苟瀹屾垚缃綅?锛佸畨閫淮鎭㈣癌韫︼及瑜€硿璇撻€嚦鎹稴鎳�(y墨ng)鐢ㄧ▼搴忕殑銆傞€欏€�(g猫)鏂规涓�锛岀偤浜嗙董璀�(h霉)杌搁枔閰嶅悎锛屽杌歌粚璺＄櫦(f膩)鐢熷櫒瑷�(j矛)绠楀緱鍒扮殑浣嶇疆瑷�(sh猫)瀹氶粸(di菐n)锛屽繀闋堝湪閬�(y霉n)鍕�(d貌ng)鎺у埗鍣ㄥ拰浼烘湇椹�(q奴)鍕�(d貌ng)鍣ㄤ腑楂橀牷鐜囪綁(zhu菐n)鎻�銆傛墍浠�锛屽崰鐢ㄧ殑绺界窔璩囨簮姣斾箣鍓嶇殑鎳�(y墨ng)鐢ㄧ▼搴忔洿澶�銆傚悓鏅�(sh铆)锛屼换浣曞悓姝ョ殑閷�(cu貌)浣嶉兘鏈�(hu矛)椤憲闄嶄綆鎺у埗閫氳矾鐨勭簿纰烘€�銆傚悓姝ラ尟(cu貌)浣嶆槸鍦ㄤ富閬�(y霉n)鍕�(d貌ng)鎺у埗鍣ㄥ拰浼烘湇椹�(q奴)鍕�(d貌ng)鍣ㄤ箣闁撳彇妯ｆ檪(sh铆)闁撶殑涓嶅悓鐢�(ch菐n)鐢熺殑銆傜附绶氬偝杓稿欢閬插皫(d菐o)鑷寸殑鎸嫊(d貌ng)涔熸渻(hu矛)鐢�(ch菐n)鐢熷悓姝ラ尟(cu貌)浣�銆傚鏋滀竴鍊�(g猫)浣嶇疆瑷�(sh猫)瀹氶粸(di菐n)鍦ㄤ己鏈嶉﹨(q奴)鍕�(d貌ng)鍣ㄤ腑鑳藉彇鍑哄叐娆�锛屽挨鍏惰姹傞珮鍕�(d貌ng)鎱�(t脿i)鎬ц兘鐨勬檪(sh铆)鍊欙紝灏辨渻(hu矛)浣块浂閫熷弮鑰冧俊铏�(h脿o)瓒呴亷(gu貌)涓€鍊�(g猫)鍙栨ǎ鏈�锛岄倓鏈�(hu矛)寮�(qi谩ng)鐑堝埡婵€鍒颁己鏈嶉浕姗�(j墨)[5]銆傚湪瀹氶€熼亱(y霉n)杞�(zhu菐n)涓嬬附绶氭尟鍕�(d貌ng)灏�(du矛)浼烘湇闆绘(j墨)鐨勫奖闊胯鍦�5锛坅锛�銆傜偤浜嗚В姹洪€欏€�(g猫)鍟�(w猫n)椤�锛屼己鏈嶉﹨(q奴)鍕�(d貌ng)鍣ㄤ腑蹇呴爤瑕佸煼(zh铆)琛屽挤(qi谩ng)鍒跺悓姝ュ懡浠�銆傜偤浜嗗緱鍒颁己鏈嶇挵(hu谩n)瑾ゅ樊鐨勬纰鸿▓(j矛)绠�锛屽繀闋堢壒鍒ユ敞鎰忛浕姗�(j墨)浣嶇疆鍜岄€熷害娓�(c猫)閲忋€傚湒5锛坆锛夋槸鍦ㄤ己鏈嶉﹨(q奴)鍕�(d貌ng)鍣ㄥ収(n猫i)閮ㄥ煼(zh铆)琛屽挤(qi谩ng)鍒朵己鏈嶇殑鏀归€�(j矛n)銆� [align=center] 锛坅锛夈€€鐒�(w煤)鎻掕(b菙)鎯呮硜 锛坆锛夈€€浼烘湇椹�(q奴)鍕�(d貌ng)鍏�(n猫i)閮ㄦ彃瑁�(b菙)鎯呮硜 鍦�5銆€鐝�(xi脿n)鍫�(ch菐ng)绺界窔绡€(ji茅)榛�(di菐n)鍦ㄤ綅缃彃瑁�(b菙)妯″紡涓嬪奖闊縖/align] 浼烘湇椹�(q奴)鍕�(d貌ng)鍣ㄨō(sh猫)瑷�(j矛) 銆€銆€ 浼烘湇椹�(q奴)鍕�(d貌ng)鍣ㄦ帶鍒堕儴鍒嗘槸涓€鍊�(g猫)鍠崹(d煤)鑺墖鐨勯浕姗�(j墨)铏曠悊鍣紙admc401锛夛紝鍖呮嫭闆绘(j墨)闆绘祦鍌虫劅锛岄浕姗�(j墨)浣嶇疆閲囬泦鍜岄仼鍚堝姛鐜囩礆(j铆)鐨勶綈锝楋綅鑴堟矕鐧�(f膩)鐢熷櫒銆傞€欏€�(g猫)瑷�(sh猫)瑷�(j矛)鏄湪涓€鍊�(g猫)鍙湁寰堝皯鍏冧欢鐨勪竴楂斿寲浼烘湇椹�(q奴)鍕�(d貌ng)鍣ㄤ腑鎬ц兘鏈€鍎�(y艒u)鐨勯伕鎿囩祼(ji茅)鏋�銆� 銆€銆€ 涓茬礆(j铆)鎺у埗楂旂郴鏄渶閬╁悎楂樻€ц兘浼烘湇椹�(q奴)鍕�(d貌ng)鍣ㄧ殑锛屽収(n猫i)閮ㄧ殑闆绘祦鎺у埗鐠�(hu谩n)鎺у埗闆绘(j墨)鍔涚煩锛屽閮ㄧ殑閫熷害鍜屼綅缃帶鍒剁挵(hu谩n)鐨勫嫊(d貌ng)鎱�(t脿i)鎬ц兘鐩存帴鍙栨焙浜庡収(n猫i)閮ㄩ浕娴佺挵(hu谩n)鐨勮〃鐝�(xi脿n)銆傜偤浜嗛仈(d谩)鍒扮洝鍙兘鐭殑闆绘(j墨)闆绘祦闊挎噳(y墨ng)鏅�(sh铆)闁擄紝骞舵豢瓒充己鏈嶉浕姗�(j墨)鐨勬渶楂橀€熷害鑼冨湇锛屽閮ㄩ浕鍔涜綁(zhu菐n)鎻涘櫒鐨勯浕澹撹寖鍦嶅繀闋堟渶澶с€傞浕娴佹帶鍒跺櫒鏄熀浜庡湪杞�(zhu菐n)瀛愬弮鑰冨潗妯�(bi膩o)绯荤┖闁撳悜閲忓缓妯★紙svm锛夋妧琛�(sh霉)銆俿vm椤炲嚱鏁�(sh霉)涓檮鍔犱簡绗笁鏂硅(di脿o)鍒惰В闋诲櫒锛岄€欎娇寰梥vm椤炲嚱鏁�(sh霉)鐩告瘮浜庡偝绲�(t菕ng)鐨勫皪(du矛)绋变笁瑙掓ā鍨嬬郸浜嗕己鏈嶉浕姗�(j墨)鏇撮珮鐨勯€�0搴﹁寖鍦嶏紙瓒呴亷(gu貌)15%锛塠6]锛岃鍦�6銆� [align=center] 鍦�6銆€浼烘湇椹�(q奴)鍕�(d貌ng)妯″瀷鏂规硶涓嬭綁(zhu菐n)鐭�/閫熷害鏇茬窔 a锛夈€€浼烘湇闁夌挵(hu谩n)鎺у埗 b锛夈€€鍌抽仦鍑芥暩(sh霉) 鍦�7銆€閫熷害鍜屼綅缃己鏈嶆帶鍒剁祼(ji茅)妲�(g貌u) a锛夈€€浼烘湇鐠�(hu谩n)浣嶇疆鎳�(y墨ng)鐢ㄧ▼搴� b锛夈€€鍖呯怠(lu貌)绶氭噳(y墨ng)鐢ㄧ▼搴� 鍦�8銆€閫熷害鍜屼綅缃己鏈嶇挵(hu谩n)瑾�(di脿o)鏁碵/align] 蹇呴爤閫氶亷(gu貌)姗�(j墨)姊拌矤(f霉)杓夊弮鏁�(sh霉)鍎�(y艒u)鍖栭€熷害鍜屼綅缃己鏈嶇挵(hu谩n)瑾�(di脿o)鏁达紝鎵嶈兘閬�(d谩)鍒扮┅(w臎n)瀹氬拰蹇€熼熆鎳�(y墨ng)鐨勭媭鎱�(t脿i)銆備綅缃己鏈嶆帶鍒跺櫒瑷�(sh猫)瑷�(j矛)鏄熀浜庡闋�(xi脿ng)寮忔帶鍒堕珨绯诲拰妤甸粸(di菐n)瀹氫綅璺熻工鏂规硶鐨�銆傚闋�(xi脿ng)寮忔帶鍒堕珨绯绘槸鏈€涓昏鐨勬帶鍒跺櫒楂旂郴锛屽苟涓旈潪甯搁仼鍚堝弮鏁�(sh霉)鏁村畾銆傚畠鍋囧畾椹�(q奴)鍕�(d貌ng)鑳介€氶亷(gu貌)鍦�7a涓環mc鍜宧md鐨勫偝閬炲嚱鏁�(sh霉)鏂圭▼渚�(l谩i)琛ㄨ堪銆備己鏈嶆帶鍒跺櫒鍖呮嫭鍏╁€�(g猫)鍌抽仦鏂圭▼hfb鍜宧fw锛屼富瑕佷綔鐢ㄤ簬浼烘湇鐠�(hu谩n)閷�(cu貌)瑾や俊铏�(h脿o)鍜屼己鏈嶇挵(hu谩n)鍙冭€冧俊铏�(h脿o)銆傚湒7b涓殑hsr鍜宧sd鍒嗗垾鏄枆鐠�(hu谩n)杓稿嚭/鍙冭€冨拰杓稿嚭/骞叉摼鐨勫偝閬炲嚱鏁�(sh霉)銆傛帶鍒跺櫒鏁村畾閫�(j矛n)绋嬪寘鎷偤浜嗚畵浣嶇疆浼烘湇鐠�(hu谩n)瑷�(sh猫)瀹氳几鍑�/鍙冭€冨€煎拰杓稿嚭/骞叉摼锛宧sr鍜宧sd鍌抽仦鍑芥暩(sh霉)涓サ榛�(di菐n)鍜岄浂榛�(di菐n)鐨勪綅缃殑瑷�(sh猫)缃�銆傛墍浠ヨ兘鎶婁己鏈嶇挵(hu谩n)瑾�(di脿o)鏁村拰璺熻工琛岀偤瀹屽叏鍒嗛洟闁�銆俬mc鍜宧md鍌抽仦鍑芥暩(sh霉)寰炵敱姗�(j墨)姊拌ō(sh猫)鍌欐湰韬ō(sh猫)瀹氱殑銆傝ō(sh猫)鍌欏偝閬炲嚱鏁�(sh霉)姗�(j墨)姊板湪椤嶅畾璨�(f霉)杓変笅鍩�(zh铆)琛岄憭瀹氱▼搴忓緱鍒扮殑銆傚煼(zh铆)琛屽櫒鍙伕鎿囬渶瑕佺殑甯跺锛岄櫎浜嗚姹傜簿瀵嗘妧琛�(sh霉)锛岃嚜鏁村畾绋嬪簭涓嶈姹備换浣曠壒娈婄殑浼烘湇绯荤当(t菕ng)鐭ヨ瓨(sh铆)銆� 銆€銆€ 鍦ㄥ闋�(xi脿ng)寮忔帶鍒堕珨绯讳篃鍙互閫氶亷(gu貌)浼烘湇椹�(q奴)鍕�(d貌ng)鍣ㄦ噳(y墨ng)鐢ㄧ▼搴忕啊(ji菐n)鍠殑绶ㄨ集浼烘湇鐠�(hu谩n)鍙嶉銆傚湪鍦�8a锛変腑锛屼己鏈嶇挵(hu谩n)闊挎噳(y墨ng)鐐鸿桓浣嶇疆鎳�(y墨ng)鐢ㄧ▼搴忓劒(y艒u)鍖栦簡銆傞€欏€�(g猫)鏂规锛岃姹傝兘杩呴€熸簴(zh菙n)纰哄埌閬�(d谩)鐩(bi膩o)浣嶇疆銆傚湪鍦�8b锛変腑锛屼己鏈嶇挵(hu谩n)闊挎噳(y墨ng)鐐轰簡鍖呯怠(lu貌)绶氭噳(y墨ng)鐢ㄧ▼搴忓劒(y艒u)鍖栦簡锛屽湪杌镐綅绉绘檪(sh铆)浣嶇疆瑾ゅ樊蹇呴爤闈犺繎闆堕粸(di菐n)銆傜浉姣斾簬浠ュ墠鐨勮(di脿o)鏁村伐浣�锛岀従(xi脿n)鍦ㄥ彧淇敼鎺у埗鍣╤fw鍌抽仦鍑芥暩(sh霉)灏卞彲浠ユ豢瓒虫柊鐨勯渶姹備簡銆� 銆€銆€ 闆绘(j墨)浣嶇疆娓�(c猫)閲忓€兼槸寰炴棆璁婂櫒鍙嶉鎰熸噳(y墨ng)閫氶亷(gu貌)杌熶欢鏃嬭畩鍒版暩(sh霉)瀛楄綁(zhu菐n)鎻涳紙rdc锛夌殑鎶€琛�(sh霉)寰楀埌鐨�銆傛棆璁婄殑姝ｅ鸡鍜屼綑寮﹀弽楗嬩俊铏�(h脿o)閫�(j矛n)鍏ュ埌admc401 12bit 鏁�(sh霉)妯¤綁(zhu菐n)鎻涘櫒锛坅dc锛夐€氶亾锛岀劧鍚庨€氶亷(gu貌)浜岄殠璺熻工婵炬尝鍣ㄨ▓(j矛)绠楀緱鍒伴浕姗�(j墨)閫熷害鍜屼綅缃€�銆傜暥(d膩ng)瑕佹眰闆绘(j墨)閬�(y霉n)鍕�(d貌ng)寰堝钩婊戞檪(sh铆)锛屽彲浠ュ湪澶栭儴鍔犱竴鍊�(g猫)16浣嶇殑adc锛屽姞寮�(qi谩ng)浣嶇疆瑙ｆ焙鏂规銆傚鍦�9锛屽彲閬哥殑16浣峚dc鑳藉ぇ閲忛檷浣庨€熷害娉㈠嫊(d貌ng)鍜岀敱浜庝綅缃畾閲忛尟(cu貌)瑾ゅ皫(d菐o)鑷寸殑闆绘(j墨)鍣伈銆� [align=center] a锛夈€€12bit鏃嬭畩淇¤櫉(h脿o) b锛夈€€16bit鏃嬭畩淇¤櫉(h脿o) 鍦�9銆€adc灏�(du矛)鏃嬭畩淇¤櫉(h脿o)杞�(zhu菐n)鎻涚殑褰遍熆[/align] 绲�(ji茅)瑾�(y菙) 銆€銆€ 鍩轰簬canopen绺界窔閫氫俊鐨勯亱(y霉n)鍕�(d貌ng)鎺у埗鍜屾櫤鑳戒己鏈嶉﹨(q奴)鍕�(d貌ng)鍣ㄦ槸涓€鍊�(g猫)楂樻晥闈堟椿鐨勮В姹烘柟妗堛€傛湰鏂囨墍鎻愬埌鐨勬櫤鑳戒己鏈嶉﹨(q奴)鍕�(d貌ng)鍣ㄤ腑鐨刢d1k鑳藉煼(zh铆)琛岄珮姘村钩鐨勫杌告帶鍒朵换鍕�(w霉)锛岀偤鍚勭ó鍚勬ǎ鐨勬噳(y墨ng)鐢ㄧ▼搴忔彁渚涢珮鎬ц兘閬�(y霉n)鍕�(d貌ng)鎺у埗瑙ｆ焙鏂规銆傗€滄彃鍊间綅缃€濇ā寮忕敤浜庤桓杌岃贰蹇呴爤閫ｇ簩(x霉)鍗�(xi茅)瑾�(di脿o)鐨勬噳(y墨ng)鐢ㄧ▼搴�銆傚湪閫欏€�(g猫)鏂规涓�锛屽洜?y脿n)妯佃皰娆ь捁?q奴)鍕�(d貌ng)鍣ㄥ収(n猫i)閮ㄦ彁渚涚殑涓夋鎻掑€�锛屼富姗�(j墨)閬�(y霉n)鍕�(d貌ng)鎺у埗鍣ㄧ殑鍗犵敤璩囨簮琚ぇ閲忔笡灏�銆傞€氶亷(gu貌)姗�(j墨)鍣ㄤ腑鐩(bi膩o)鎳�(y墨ng)鐢ㄧ▼搴忚嚜鏁村畾绋嬪紡鍦ㄧ窔閬�(y霉n)琛屽氨鑳借(di脿o)鏁村劒(y艒u)鍖栭€熷害鍜屼綅缃己鏈嶇挵(hu谩n)銆�