鎽� 瑕�:绨¤姒傝堪浜哖MAC 鐨勭壒榛�(di菐n)锛屼粙绱逛簡PMAC 鎺у埗涓嬭綁(zhu菐n)鑷轰己鏈嶇郴绲�(t菕ng)鐨勮ō(sh猫)瑷�(j矛)锛岄噸榛�(di菐n)灏嶇郴绲�(t菕ng)瑾�(di脿o)瑭﹂亷绋嬩腑閬囧埌鐨勫晱椤岄€�(j矛n)琛屼簡瑷庤珫锛屼富瑕佹湁杞�(zhu菐n)鑷哄柈鏂瑰悜婕傜Щ銆佽綁(zhu菐n)鑷洪枆鐠�(hu谩n)鍚庝締鍥炴紓绉�銆丳ID 瑾�(di脿o)绡€(ji茅)绛�銆� 闂�(gu膩n)閸佃锛�PMAC锛涜綁(zhu菐n)鑷�锛�浼烘湇绯荤当(t菕ng)锛涜(di脿o)瑭�

Debugging of high precision revolving table dual close loop servo system controlled by PMAC

CHEN Dong-sheng

Abstract锛�It summarizes the characteristic of PMAC锛宨ntroduces the design of revolving table servosystem controlled by PMAC锛宒iscusses some questions about system debugging emphatically锛宨ncluding singledirection excursion of revolving table銆乪xcursion back and forth after close loop銆丳ID adjusting and soon. Key words锛�PMAC锛汻evolving table锛汼ervo system锛汥ebugging PMAC 鏄竴鍊�(g猫)闁嬫斁寮忕殑閬�(y霉n)鍕曟帶鍒�鍣紝瀹冩湁澶氱ó鍨嬭櫉锛岀郴绲�(t菕ng)浣跨敤鐨勬槸TURBO PMAC鈪″瀷鍗★紝瑭插崱鍦ㄥ湅鍏�(n猫i)鐨勪娇鐢ㄤ笉澶�銆傜敤PMAC鎺у埗杞�(zhu菐n)鑷洪枆鐠�(hu谩n)浼烘湇绯荤当(t菕ng)锛屽緸鐞嗚珫涓婁締璎�锛屼己鏈嶇挵(hu谩n)鍏�(n猫i)鍚勫厓浠惰宸互鍙婇亱(y霉n)鍕曚腑閫犳垚鐨勮宸兘鍙互寰楀埌瑁�(b菙)鍎燂紝鍥犺€屽彲浠ラ仈(d谩)鍒板緢楂樼殑璺熼毃绮惧害鍜屽畾浣嶇簿搴�锛屼絾鐢变簬鍙楁(j墨)姊拌畩褰�銆佹韩搴﹁畩鍖�銆佹尟鍕曞強鍏跺畠鍥犵礌鐨勫奖闊�锛岃瀵�(sh铆)鐝�(xi脿n)楂樼簿搴�銆佽壇濂界殑绌�(w臎n)瀹氭€у拰蹇€熺殑鍕曟厠(t脿i)闊挎噳(y墨ng)鐗规€�锛岄枆鐠�(hu谩n)绯荤当(t菕ng)鐨勮(di脿o)瑭︽湁涓€瀹氱殑闆ｅ害銆傚氨PMAC 鎺у埗鐨勮綁(zhu菐n)鑷洪枆鐠�(hu谩n)绯荤当(t菕ng)閫�(j矛n)琛岃(di脿o)瑭﹂亷绋嬩腑閬囧埌鐨勫咕鍊�(g猫)鍟忛閫�(j矛n)琛屽垎鏋�锛屽苟鎻愬嚭瑙ｆ焙杈︽硶锛屼互渚涘ぇ瀹跺€熼憭銆� 1 浼烘湇绯荤当(t菕ng)鐨勮ō(sh猫)瑷�(j矛) 1.1 PMAC 姒傝堪 缇庡湅DeltaTau 鍏徃鐨勫彲绶ㄧ▼澶氳桓閬�(y霉n)鍕曞櫒锛圥MAC锛夋槸涓栫晫涓婂姛鑳藉挤(qi谩ng)澶х殑閬�(y霉n)鍕曟帶鍒跺櫒涔嬩竴锛屽畠鍊熷姪浜嶮otorola 鐨凞SP56001/56002 鏁�(sh霉)瀛椾俊铏熻檿鐞嗗櫒锛屽彲浠ュ悓鏅�(sh铆)鎿嶇副1锝�8 鍊�(g猫)杌�銆傝€屼笖瀹冮倓鍙互鑷嫊灏嶄换鍕�(w霉)閫�(j矛n)琛屽劒(y艒u)鍏堢瓑绱氬垽鍒�锛屽緸鑰岄€�(j矛n)琛屽(sh铆)鏅�(sh铆)鐨勫浠诲嫏(w霉)铏曠悊锛岄€欎娇寰楀畠鍦ㄨ檿鐞嗘檪(sh铆)闁撳拰浠诲嫏(w霉)鍒囨彌閫欐柟闈㈠ぇ澶ф笡杓曚富姗�(j墨)鍜岀法绋嬪櫒鐨勮矤(f霉)鎿�(d膩n)锛屾彁楂樹簡鏁村€�(g猫)鎺у埗绯荤当(t菕ng)鐨勯亱(y霉n)琛岄€熷害鍜屾帶鍒剁簿搴�銆侾MAC 鍏锋湁闁嬫斁骞宠嚭锛屼笉鍍呭彲浠ョ敤G 浠ｇ⒓锛岃€屼笖鍙互鐢– 鎴朆ASIC 瑾炶█绶ㄧ▼锛屽畠鑳藉?q奴)违閹呰皰榧�?n猫i)閮ㄧ殑绋嬪簭閫�(j矛n)琛屽柈鐛�(d煤)鐨勯亱(y霉n)绠�锛屽煼(zh铆)琛岄亱(y霉n)鍕曠▼搴�銆丳LC 绋嬪簭锛屽苟鍙€�(j矛n)琛屼己鏈嶇挵(hu谩n)鏇存柊锛屽苟浠ヤ覆鍙�銆佺附绶氬叐绋柟寮忚垏涓昏▓(j矛)绠楁(j墨)閫�(j矛n)琛岄€氳▕銆� 1.2 杞�(zhu菐n)鑷烘帶鍒剁郴绲�(t菕ng)瑷�(sh猫)瑷�(j矛) 瑭叉帶鍒剁郴绲�(t菕ng)鐢盤C锛堜笂浣嶆(j墨)锛�銆丳MAC 鎺у埗鍣紙涓嬩綅姗�(j墨)锛夈€丏ynaserv椹�(q奴)鍕曞櫒銆丳ARK 鐨勯珮绮惧害鏃嬭綁(zhu菐n)宸ヤ綔鑷�銆佹脯閲忚垏鍙嶉绯荤当(t菕ng)绲勬垚銆傚叾鎺у埗鍘熺悊锛屽鍦�1 鎵€绀�銆侾ARK 鐨勯珮绮惧害鏃嬭綁(zhu菐n)宸ヤ綔鑷鸿垏涓€鑸伐浣滆嚭涓嶅悓锛屽畠鐨勯浕姗�(j墨)鏄劇鍒风洿鎺ラ﹨(q奴)鍕曢浕姗�(j墨)锛屽洖杞�(zhu菐n)宸ヤ綔鑷虹殑鑷洪潰鏄浕姗�(j墨)鐨勮綁(zhu菐n)瀛�锛屾矑鏈変簡鍌冲嫊姗�(j墨)妲�(g貌u)锛岄€欐ǎ灏辨笡灏戜簡鍌冲嫊瑾ゅ樊銆傝┎绯荤当(t菕ng)鏄竴鍊�(g猫)闆欓枆鐠�(hu谩n)绯荤当(t菕ng)锛岀敱浜庤┎绯荤当(t菕ng)涓煼(zh铆)琛屾(j墨)妲�(g貌u)閲囩敤鐨勬槸鐩存帴椹�(q奴)鍕曢浕姗�(j墨)锛屽叾闆欓枆鐠�(hu谩n)绯荤当(t菕ng)涓嶅悓浜庨€氬父鐨勯洐闁夌挵(hu谩n)锛屽叾閫熷害鐠�(hu谩n)鍜屼綅缃挵(hu谩n)鍏辩敤鍦撳厜鏌典綅缃弽楗嬩俊铏�锛屽収(n猫i)鐠�(hu谩n)鏄€熷害鐠�(hu谩n)锛屽鐠�(hu谩n)鏄綅缃挵(hu谩n)銆傞€熷害鐠�(hu谩n)鐢遍€熷害鎺у埗鍠厓銆丗/V 杞�(zhu菐n)鎻涖€侀€熷害鍙嶉闆昏矾绲勬垚锛屽畠鍙互瀵�(sh铆)鐝�(xi脿n)閫熷害鎭掑€兼帶鍒�銆備綅缃挵(hu谩n)鐢盤MAC 涓綅缃帶鍒舵ā濉�銆侀€熷害鎺у埗鍠厓銆佷綅缃娓強浣嶇疆鍙嶉闆昏矾绲勬垚銆� 鐢变簬娌掓湁浜嗗偝鍕曟(j墨)妲�(g貌u)锛屽洜姝ゅ畨瑁濆湪杞�(zhu菐n)瀛愪笂鐨勫湏鍏夋煹鎵€鍙嶉鐨勫€兼棦鍙嶆槧浜嗚綁(zhu菐n)鑷虹殑瀵�(sh铆)闅涗綅缃�锛屽張鍙嶆槧浜嗛浕姗�(j墨)鐨勮几鍑�锛岄€熷害鐠�(hu谩n)涓┎鍊奸€氶亷F/V 杞�(zhu菐n)鎻涙垚閫熷害閲�锛孎(xi脿n)/V 杞�(zhu菐n)鎻涙槸閫氶亷瑷�(j矛)鏁�(sh霉)鐨勯牷鐜囦締杞�(zhu菐n)鎻涙垚妯℃摤闆诲锛堜竴鑸槸浠�25kHZ/V 鐨勯€熺巼杞�(zhu菐n)鎻涳級銆傚弽楗嬩俊铏熸槸澧為噺寮廇/B 鐩告浜よ剤娌栦俊铏�銆傛帶鍒惰綁(zhu菐n)鑷虹殑鏄疨MAC鈪″瀷鍗�锛岀郴绲�(t菕ng)涓殑鍦撶洡鍏夋煹灏虹簿搴﹂珮锛屽彲閬�(d谩)655360 绶�/杞�(zhu菐n)锛岀暥(d膩ng)PMAC 鍥涘€嶉牷鍚�锛屽叾鍒嗚鲸鐜囧彲閬�(d谩)鍒�2621440 鑴堟矕鏁�(sh霉)/杞�(zhu菐n)銆� 2 绯荤当(t菕ng)瑾�(di脿o)瑭� 灏嶉洐闁夌挵(hu谩n)绯荤当(t菕ng)鐨勮(di脿o)瑭�锛屼笉浣嗚灏嶆帶鍒跺崱閫�(j矛n)琛屽弮鏁�(sh霉)瑷�(sh猫)缃紝鑰屼笖瑕佸皪椹�(q奴)鍕曞櫒閫�(j矛n)琛屽弮鏁�(sh霉)瑷�(sh猫)缃�锛岀郴绲�(t菕ng)瑾�(di脿o)瑭︿腑鏈冮亣鍒板緢澶氬晱椤�锛屾湰绡€(ji茅)鍙氨鍏朵腑骞惧€�(g猫)鍟忛閫�(j矛n)琛屽垎鏋愯◣璜�銆� 2.1 杞�(zhu菐n)鑷哄柈鏂瑰悜婕傜Щ鐨勫晱椤� 鍦ㄥ畬鎴愮郴绲�(t菕ng)閫ｆ帴鍚庯紝鎴戝€戠敤PMAC 鐨勮(di脿o)瑭﹁粺浠禤ewin32 閫�(j矛n)琛岃(di脿o)瑭�锛屼笂闆诲悗锛岃綁(zhu菐n)鑷洪枊濮嬪嚭鐝�(xi脿n)鍠柟鍚戞紓绉荤殑鐝�(xi脿n)璞★細杞�(zhu菐n)鑷烘部闋嗘檪(sh铆)閲濇柟鍚戜互寰堝皬鐨勯€熷害绉诲嫊銆傚湪瑷�(sh猫)缃簡甯哥敤鐨凱MAC 鍙冩暩(sh霉)鍚�锛屽柈鏂瑰悜婕傜Щ鍟忛浠嶇劧瀛樺湪銆� 鐐鸿В姹洪€欏€�(g猫)鍟忛锛屾垜鍊戝皪鏈夊彲鑳界殑鍘熷洜涓€涓€鍒嗘瀽銆傞鍏堟垜鍊戞嚪鐤戞槸纭欢绯荤当(t菕ng)閫ｆ帴寮曡捣鐨�锛屽湪鏍稿皪鎺у埗绶氳矾鍦�銆侀噸鏂版鏌ョ‖浠堕€ｇ窔鍚庤┎鐝�(xi脿n)璞′粛鐒跺瓨鍦ㄣ€傜劧鍚庢垜鍊戞嚪鐤戞槸椹�(q奴)鍕曞櫒鐨勮ō(sh猫)缃湁鍟忛锛岀敱浜庡湪鍑哄粻鍓嶅叾椹�(q奴)鍕曞櫒dynaserv 鍙兘瑷�(sh猫)缃簡涓€浜涘弮鏁�(sh霉)锛岀偤姝�锛屾垜鍊戠敤park 鑷付鐨勮(di脿o)瑭﹁粺浠禗RVG鈪￠€�(j矛n)琛岃(di脿o)瑭�锛屼笂闆诲悗锛岃綁(zhu菐n)鑷烘矑鏈夊嚭鐝�(xi脿n)鍠柟鍚戞紓绉荤殑鐝�(xi脿n)璞�銆傜敱姝ゅ彲浠ユ帹鏂峰嚭涓嶆槸椹�(q奴)鍕曞櫒鍙冩暩(sh霉)瑷�(sh猫)缃殑鍟忛锛岃€岀⒑瀹氱偤PMAC 鑸囪綁(zhu菐n)鑷轰箣闁撶殑鍖归厤鎴朠MAC 鍙冩暩(sh霉)瑷�(sh猫)缃殑鍟忛銆傜稉(j墨ng)浠旂窗(x矛)鏌ユ壘锛岀櫦(f膩)鐝�(xi脿n)绶ㄧ⒓鍣↖ 璁婇噺I7mn6锛堣綁(zhu菐n)鑷鸿桓灏嶄簬浼烘湇鍗¤櫉m 鐐�2锛岄€氶亾鏁�(sh霉)n 鐐�4锛屽嵆鐐篒7246锛夌殑瑷�(sh猫)缃湁鍙兘涓嶆纰�锛孖7mn6鏄帶鍒禩URBOPMAC鈪″瀷鍗′腑绶ㄧ⒓鍣ㄦ帴鍙ｉ€氶亾n 鐨勫懡浠よ几鍑轰俊铏熺窔鐨勮几鍑烘ā寮�锛岃┎璁婇噺鐨勫€煎彲鍙栵紙0锝�3锛�锛岄粯瑾�(r猫n)鍊兼槸0锛岃〃绀虹n 閫氶亾绶ㄧ⒓鍣ㄤ俊铏烝銆丅 鍜孋 鏄笁鐩哥洿娴丳WM锛堣剤瀵(di脿o)鍒讹級鏍煎紡杓稿嚭銆傝€岃┎绯荤当(t菕ng)鐨勭法纰煎櫒A&B 鐩歌几鍏ヤ俊铏熻缍�(j墨ng)鏁�(sh霉)妯¤綁(zhu菐n)鎻涘悗杓稿嚭锛屽叾灏嶆噳(y墨ng)鐨処7246 瑷�(sh猫)缃偤3锛寊 閲嶆柊瑷�(sh猫)缃悗锛屽柈鏂瑰悜婕傜Щ鍟忛寰楀埌浜嗚В姹�銆� 2.2 闁夌挵(hu谩n)鍚庤綁(zhu菐n)鑷烘紓绉诲晱椤� 鍦≒ewin32 涓畵杞�(zhu菐n)鑷洪枆鐠�(hu谩n)鎵嬪嫊閬�(y霉n)琛�锛岀敤鈥渏/鈥濈祼(ji茅)鏉熼亱(y霉n)琛屽悗锛岃綁(zhu菐n)鑷轰笉鑳藉畬鍏ㄥ仠姝�锛岃€屾槸娌胯憲鏌愬€�(g猫)浣嶇疆渚嗗洖鐨勬紓鍕�锛岄€氶亷绶ㄧ⒓鍣ㄥ弽楗嬮’绀�锛屽叾婕傚嫊鍊煎湪卤100 鍊�(g猫)鑴堟矕宸﹀彸銆傚煼(zh铆)琛屸€淗M鈥濆懡浠や娇杞�(zhu菐n)鑷哄洖闆�锛屽洖闆堕亱(y霉n)鍕曚篃涓嶈兘瀹屾垚锛屽嚭鐝�(xi脿n)鍚屾ǎ鐨勭従(xi脿n)璞�銆傚皣鎵嬫斁鍦ㄨ綁(zhu菐n)鑷轰笂鑳藉鎰熺煡鍒拌綁(zhu菐n)鑷哄湪宸﹀彸鎶栧嫊銆傚湪闁嬬挵(hu谩n)閬�(y霉n)琛屾檪(sh铆)娌掓湁閫欑ó鎯呮硜鍑虹従(xi脿n)銆� 鏍规摎(j霉)浠ヤ笂鐨勭従(xi脿n)璞�锛屾帓闄ょ郴绲�(t菕ng)閫ｆ帴寮曡捣鐨勬晠闅�锛屽垵姝ュ緱鍑烘槸杞�(zhu菐n)鑷洪枆鐠�(hu谩n)绯诲弽楗嬪紩璧风殑婕傜Щ銆傜敱浜庢垜鍊戠殑瑾�(di脿o)瑭︾挵(hu谩n)澧冧笉鏄緢濂�锛岄鍏堟垜鍊戞兂鍒扮殑鏄浕纾佸共鎿惧紩璧风法纰煎櫒鐨勮畝鏁�(sh霉)涓嶆簴(zh菙n)纰猴紝寰炶€屼娇寰椾己鏈嶇郴绲�(t菕ng)椹�(q奴)鍕曡綁(zhu菐n)鑷轰竴鐩村湪鐩(bi膩o)浣嶇疆宸﹀彸渚嗗洖绉诲嫊銆備絾鎴戝€戝湪娌掓湁绲﹂浕姗�(j墨)浣胯兘鏅�(sh铆)锛岄€氶亷Pewin32 瑙€瀵熺法纰煎櫒鍙嶉椤ず锛屽叾鍊肩┅(w臎n)瀹氾紝濡傛灉闆荤骞叉摼鑳藉紩璧风法纰煎櫒鐨勮几鍑轰笉纰哄畾锛屽墖闆绘(j墨)娌掓湁浣胯兘鏅�(sh铆)锛岀法纰煎櫒鍙嶉椤ず鎳�(y墨ng)涓嶇┅(w臎n)瀹�锛屾晠鎺掗櫎浜嗙挵(hu谩n)澧冨奖闊垮紩璧锋晠闅�銆傚湪灏嬫眰鎶€琛�(sh霉)鏀寔鏅�(sh铆)锛岀敘(ch菐n)鍝佷緵鏂规彁鍑烘湁鍙兘鏄﹨(q奴)鍕曞櫒鍏�(n猫i)纭欢婵炬尝鍣ㄥ紩璧�銆備絾缍�(j墨ng)鍒嗘瀽锛屽洜?y脿n)闂塚娉㈠櫒鎳�(y墨ng)瑭叉槸蹇呴爤鐨�锛岃寰楃‖浠舵烤娉㈠櫒寮曡捣鐨勫彲鑳芥€т笉澶�銆傛渶鍚庨倓鏄洖鍒癙MAC 鎺у埗涓婁締鑰冩叜锛孭MAC 鑸囪綁(zhu菐n)鑷轰箣闁撶殑鍖归厤娌掓湁瑷�(sh猫)缃纰�銆傜稉(j墨ng)閬庤獚(r猫n)鐪熺殑鍒嗘瀽鎺掗櫎锛屾渶鍚庡緱鍑烘湁鍙兘鏄己鏈岻C 鐨処 璁婇噺瑷�(sh猫)缃笉姝ｇ⒑锛孖7mn0锛屽畠鏄帶鍒跺湪TURBO PMAC鈪″瀷鍗′腑浼烘湇IC 铏熺偤m锛岄€氶亾鏁�(sh霉)鐐簄 涓婄殑绶ㄧ⒓鍣ㄨ几鍏ヤ俊铏熷浣曡纰兼垚鑴堟矕鏁�(sh霉)銆傝綁(zhu菐n)鑷哄皪鎳�(y墨ng)鐨勬槸璁婇噺鏄疘7240锛氫己鏈岻C2銆�4 閫氶亾绶ㄧ⒓鍣ㄨ纰�锛屽叾鍊煎彲鍙�0锝�15锛岄粯瑾�(r猫n)瑷�(sh猫)缃槸7锛屾寚鍥涘€嶉牷鍙嶆檪(sh铆)閲濊纰�銆傚湪姝ｄ氦璀⒓妯″紡涓紝PMAC 甯屾湜鍦–HA 鍜孋HB 鏈夊叐璺尝褰㈣几鍏�锛屾瘡涓€璺兘鏈夊ぇ绱�50锛呯殑鍗犵┖姣�锛屼笖褰兼涔嬮枔鏈夊ぇ绱勫洓鍒嗕箣涓€鍛ㄦ湡鐨勭浉宸�锛屽洓鍊嶉牷璀⒓浣挎瘡涓€鍊�(g猫)鍛ㄦ湡鎻愪緵鍥涘€�(g猫)鑴堟矕鏁�(sh霉)锛屾垜鍊戜竴鐩磋獚(r猫n)鐐鸿ō(sh猫)缃偤7 娌掓湁閷�(cu貌)锛屽洜?y脿n)妯炬灠顎皨棰漧璀⒓鍚庣嵅寰楁渶澶х殑鍒嗚鲸鐜�銆� PMAC鈪″瀷鍗℃彁渚涗簡绶ㄧ⒓鍣ㄨ纰兼柟寮忓彲浠ユ槸鍏�(n猫i)閮ㄨ剤娌栵紜鏂瑰悜锛屽叾璀⒓鍣ㄨ几鍑虹殑鑴堟矕锛嬫柟鍚戜俊铏熸槸鐢眓 閫氶亾涓殑鑴堟矕闋荤巼瑾�(di脿o)绡€(ji茅)鍣紙PFM锛夎几鍑洪浕璺敘(ch菐n)鐢熺殑銆傚畠鍙互鐢�(ch菐n)鐢熶竴鍊�(g猫)鍋囨兂鐨勯枆鐠�(hu谩n)渚嗛﹨(q奴)鍕曢枊鐠�(hu谩n)姝ラ€�(j矛n)绯荤当(t菕ng)銆傛垜鍊戝垎鏋愬鏋滃皣杞�(zhu菐n)鑷虹殑绶ㄧ⒓鍣ㄨ纰兼柟寮忚ō(sh猫)缃偤鍏�(n猫i)閮ㄨ剤娌栵紜鏂瑰悜锛屽叾璀⒓杓稿嚭鐢卞収(n猫i)閮ㄨ剤娌栭牷鐜囪(di脿o)绡€(ji茅)鍣紙PFM锛夎几鍑洪浕璺敘(ch菐n)鐢�锛岄€欐ǎ鍙互閬垮厤涓€浜汸MAC 鑸囬﹨(q奴)鍕曞櫒闁撶殑涓嶅尮閰嶃€傚湪灏嘔7240 瑷�(sh猫)缃偤8锛堝収(n猫i)閮ㄨ剤娌栵紜鏂瑰悜锛夊悗锛屾垜鍊戝皣杞�(zhu菐n)鑷洪枆鐠�(hu谩n)鍚庯紝渚嗗洖婕傚嫊鐝�(xi脿n)璞℃秷闄や簡锛岀敤鈥渏锛�10000鈥濋亱(y霉n)琛岋紙鎵嬪嫊璧板埌绲曞皪浣嶇疆鐐�10000counts 铏曪級鍚庣法纰煎櫒鍙嶉椤ず鐐�10000counts锛屾矑鏈変簡鎶栧嫊锛屽苟涓斿湪瑷�(sh猫)缃偤鍏�(n猫i)閮ㄨ剤娌栵紜鏂瑰悜鍚�锛屾牴鎿�(j霉)閬�(y霉n)琛岀祼(ji茅)鏋滅湅锛屽叾绶ㄧ⒓鍣ㄥ弽楗嬮€�(j矛n)鍏MAC 鍚庝篃閫�(j矛n)琛屼簡鍥涘€嶉牷锛屽垎杈ㄧ巼閬�(d谩)鍒�2621440 鑴堟矕鏁�(sh霉)/杞�(zhu菐n)銆傚埌姝�锛岃┎鏁呴殰寰椾互鎺掗櫎銆� 2.3 PID 瑾�(di脿o)绡€(ji茅) 鍦ㄧ郴绲�(t菕ng)涓�锛岀偤浜嗙嵅寰楄壇濂界殑绌�(w臎n)鎱�(t脿i)鐗规€у拰鍕曟厠(t脿i)鐗规€�锛岄渶瑕佸皪绯荤当(t菕ng)鐨勬帶鍒剁挵(hu谩n)閫�(j矛n)琛屾牎姝ｅ拰瑾�(di脿o)鏁�锛屾墍浠ョ暥(d膩ng)绯荤当(t菕ng)鐨勫熀鏈壒鎬э紙鍖呮嫭姗�(j墨)姊板偝鍕�銆侀浕姗�(j墨)閬稿瀷绛夛級纰虹珛鍚�锛屽氨闇€瑕佸皪绯荤当(t菕ng)鐨勬帶鍒剁挵(hu谩n)閫�(j矛n)琛岃(di脿o)鏁翠簡銆傚湪浠MAC 鐐烘牳蹇冩帶鍒跺櫒鐨勭郴绲�(t菕ng)涓紝閫氶亷瑾�(di脿o)绡€(ji茅)瀹冩彁渚涚殑PID锛嬮€熷害/鍔犻€熷害鍓嶉瑾�(di脿o)绡€(ji茅)鍣ㄧ殑鍙冩暩(sh霉)鑳借В姹哄ぇ閮ㄥ垎鐨勭郴绲�(t菕ng)鐗规€у晱椤�锛岄€欎簺鍙冩暩(sh霉)鍖呮嫭姣斾緥澧炵泭锛坧roportional锛�銆佺⿳鍒嗗鐩婏紙integral锛夈€佸井鍒嗗鐩婏紙differential锛夛紙鍗砅ID 鎺у埗锛�锛涢€熷害銆佸姞閫熷害鍓嶉锛坒eedforward锛�锛涙懇鎿﹀鐩婄瓑绛�銆傚吀鍨婸ID 浼烘湇鐠�(hu谩n)锛屽鍦�2 鎵€绀�銆� Pewin32 鎻愪緵浜嗗叐绋俊铏熸簮锛堣剤娌栧拰姝ｅ鸡娉俊铏燂級閫�(j矛n)琛孭ID瑾�(di脿o)鏁�锛岃剤娌栭熆鎳�(y墨ng)閬庣▼涓昏鏄敤渚嗚(di脿o)鏁寸郴绲�(t菕ng)鐨凱銆両銆丏 绛夊弮鏁�(sh霉)锛岃€屾寮︽尝闊挎噳(y墨ng)涓昏鏄敤渚嗚(di脿o)鏁寸郴绲�(t菕ng)鐨勫嫊鎱�(t脿i)鐗规€с€侾ID 瑾�(di脿o)鏁撮亷绋嬮鍏堝皣鎵€鏈夐亱(y霉n)琛岀殑閬�(y霉n)鍕曠▼搴忓拰PLC 绋嬪簭鍋滄锛岀劧鍚庝笅杓夎嚜宸变竴娈靛皬绋嬪簭锛岃畵闆绘(j墨)杞�(zhu菐n)鍕曪紝瀵�(sh铆)鏅�(sh铆)閲囬泦鏁�(sh霉)鎿�(j霉)锛岀躬鍒跺嚭鑴堟矕鎴栨寮﹂熆鎳�(y墨ng)鏇茬窔锛岃畵鐢ㄦ埗閫氶亷闊挎噳(y墨ng)鏇茬窔渚嗗垽鏂风郴绲�(t菕ng)鐨勭壒鎬�銆� PID 瑾�(di脿o)鏁村繀闋堝湪浜嗚В鍚勫弮鏁�(sh霉)鐨勫叿楂斾綔鐢紝骞朵笉鏂风殑瀵�(sh铆)椹�(y脿n)锛屾渶濂芥槸鍏堜綔鑴堟矕闊挎噳(y墨ng)瑾�(di脿o)鏁�锛屼富瑕佽(di脿o)鏁存瘮渚嬨€佺⿳鍒�銆佸井鍒嗗鐩�锛屽湪鑴堟矕闊挎噳(y墨ng)鏇茬窔瑾�(di脿o)鏁存渶濂界殑鐙€鎱�(t脿i)涓嬶紝涓嶈鏇存敼姣斾緥銆佺⿳鍒�銆佸井鍒嗗鐩婏紝浣滄寮﹂熆鎳�(y墨ng)瑾�(di脿o)鏁�锛屾寮﹂熆鎳�(y墨ng)瑾�(di脿o)鏁翠富瑕佽(di脿o)鏁撮€熷害銆佸姞閫熷害鍓嶉鍜屾懇鎿﹀鐩婄瓑鍙冩暩(sh霉)锛屼互涓嬪皪杞�(zhu菐n)鑷虹┖杓夌殑PID 閫�(j矛n)琛岃(di脿o)鏁达紝鍦ㄧ稉(j墨ng)澶氭瑾�(di脿o)鏁村悗鎴戝€戝緱鍑轰簡鍚勫弮鏁�(sh霉)鐨勬渶鍎�(y艒u)鍖栬ō(sh猫)瀹氬€�銆傚悇鍙冩暩(sh霉)鎰忕京鍙婅ō(sh猫)瀹氬€�锛屽琛�1 鎵€绀恒€� 鍦ㄨ┎鍙冩暩(sh霉)涓�锛屽緱鍑鸿剤娌栭熆鎳�(y墨ng)鍜屾寮﹂熆鎳�(y墨ng)鏇茬窔锛屽鍦�3 鎵€绀�銆傚緸鍦栦腑鍙互鐪嬪嚭锛岃剤娌栭熆鎳�(y墨ng)鏇茬窔涓�锛屽懡浠や綅缃拰瀵�(sh铆)闅涗綅缃熀鏈噸鍚堬紝姝ｅ鸡闊挎噳(y墨ng)鏇茬窔涓寚浠ら€熷害鏇茬窔鍜屾檪(sh铆)闁撻€熷害鏇茬窔宸茬稉(j墨ng)瀹屽叏閲嶅悎锛岄€熷害璺熼毃瑾ゅ樊寰堜笅锛屽箙鍊煎彧鏈壜�4 鍊�(g猫)鑴堟矕銆傚湪瑭茬ó瑾�(di脿o)瑭︾媭鎱�(t脿i)涓�锛屾垜鍊戠敤鏁�(sh霉)鎺х▼搴忛亱(y霉n)琛岃綁(zhu菐n)鑷烘檪(sh铆)鍏惰窡闅ㄨ宸彧鏈�1 鍊�(g猫)鑴堟矕瑷�(j矛)鏁�(sh霉)锛岀浉鐣�(d膩ng)鍦ㄥ湏鍛ㄤ笂0.5s 瑙掑害鐨勮宸�锛屽叾鍕曟厠(t脿i)闊挎噳(y墨ng)宸茬稉(j墨ng)鐩哥暥(d膩ng)蹇簡銆� 3 绲�(ji茅)璜� 灏嶈綁(zhu菐n)鑷虹殑瑾�(di脿o)瑭﹂亷绋嬩腑锛屼竴鑸渻閬囧埌瑷卞鐨勫晱椤�锛岀附绲�(ji茅)璧蜂締鍦ㄨ(di脿o)瑭︽檪(sh铆)鎳�(y墨ng)娉ㄦ剰锛� 锛�1锛夌‖浠堕€ｇ窔锛氫粩绱�(x矛)妾㈡煡椹�(q奴)鍕曞櫒鑸囪綁(zhu菐n)鑷�銆侀﹨(q奴)鍕曞櫒鑸囨帶鍒跺崱涔嬮枔鐨勯€ｆ帴锛岀法纰煎櫒鍙嶉鐨勯€ｆ帴銆� 锛�2锛夌挵(hu谩n)澧冨共鎿撅細澶栫晫婧害銆佹尟鍕�銆侀浕纾佸共鎿鹃兘鍙兘褰遍熆鍒扮郴绲�(t菕ng)鐨勭簿搴﹁垏鍕曟厠(t脿i)鐗规€э紝瑾�(di脿o)瑭︽檪(sh铆)鎳�(y墨ng)鏈夎壇濂界殑鐠�(hu谩n)澧�銆� 锛�3锛塒MAC 鍙冩暩(sh霉)鐨勮ō(sh猫)缃細灏嶄簬PMAC 鍗�锛岀敱浜庡叾鍨嬭櫉杓冨锛屼笉鍚岀殑鍨嬭櫉鍙冩暩(sh霉)瑷�(sh猫)缃笉澶竴妯�锛岃(di脿o)瑭﹂亷绋嬩腑闇€瑕佷粩绱�(x矛)鐮旂┒鍏跺弮鏁�(sh霉)鐨勮ō(sh猫)缃�銆� 锛�4锛塒ID 瑾�(di脿o)绡€(ji茅)锛歅ID 瑾�(di脿o)绡€(ji茅)鐩存帴褰遍熆鍒扮郴绲�(t菕ng)鐗规€э紝PID 鍙冩暩(sh霉)瑾�(di脿o)绡€(ji茅)瑕佹牴鎿�(j霉)鍚勫弮鏁�(sh霉)鐨勭壒榛�(di菐n)锛屼笉鏂风殑瀵�(sh铆)椹�(y脿n)锛屾壘鍒颁竴鍊�(g猫)鏈€浣崇殑鍙冩暩(sh霉)閰嶇疆銆� 鍙冭€冩枃鐛�(xi脿n) 1 瓒欓亱(y霉n)榫�. 鏁�(sh霉)鎺ф(j墨)搴婂強閬�(y霉n)鐢�. 鍖椾含锛氭(j墨)姊板伐妤�(y猫)鍑虹増绀�锛�2002锛�2锛� 2 PMAC 鐢ㄦ埗鎵嬪唺. 鍖椾含鍏冭部(m脿o)鑸堟帶鍒惰ō(sh猫)鍌欐妧琛�(sh霉)鏈夐檺璨�(z茅)浠诲叕鍙革紝2000 3 妤婃洿鏇�锛岃憠浣╅潚锛屾闁嬫槑. 鍩轰簬PMAC 鐨勬暩(sh霉)鎺х郴绲�(t菕ng)PID 鍙冩暩(sh霉)鑷仼鎳�(y墨ng)瑾�(di脿o)绡€(ji茅). 姗�(j墨)姊板伐绋嬪斧锛�2002锛�4锛� 4 姗�(j墨)闆讳竴楂斿寲瀵�(sh铆)椹�(y脿n)鎸囧皫(d菐o)鏇�. 鍖椾含鍏冭部(m脿o)鑸堟帶鍒惰ō(sh猫)鍌欐妧琛�(sh霉)鏈夐檺璨�(z茅)浠诲叕鍙革紝2001锛�11锛�