凯麟组最终数据加速度

1、Dim DATA!, tep!, c!, pretep!, newsp! Dim wID%, wModuleName%Dimq0!,q1!,q2!,e1!,e2!,e3!,u1!,u0!,sp!,b!,f%,kp!,td!,ti!,oupt!,st%,a%,d!,cc% Dim wGain(0 To 9) As IntegerDimwHex(0To15)AsInteger,fValue(0To15)AsDouble DimbyData(0To127)AsByte,wData(0To63)AsTimer1.Enabled = FalseIPAddress=byData(1)=RetVal=ADA

2、MTCP_Write6KPAddress,6050,1,1,1,byData(1) Label4.Caption = 待检测Label6.Caption待检测 Label8.Caption待检测 End Subsp = 0.0002 * st * st + 30Timer3.Interval=Timer1.Interval=End Timer1.Enabled = False Timer2.Enabled = FalsebyData(1)=RetVal=ADAMTCP_Write6KPAddress,6050,1,1,1,byData(1) Label4.Caption = 待检测Label6

3、.Caption待检测 Label8.Caption待检测 End t0 = stt0 = tep PrivateSubu0 =u1 =t0 =t1 =t2 =e1 = e2 = e3 = td = kp=ti= q0=kp*(1+td/5+5/ti) q1 = -kp * (1 + 2 * td / 5) q2 = kp * td / 5IPAddress = If RetVal ThenUnload Me End If wModuleName=DATA = fValue(1)tep=(DATA-4)*100/b = tep PrivateSubForm_Unload(CancelAsInt

4、eger) Unload MeEnd IPAddress = wGain(1)=wModuleName=DATA = fValue(1)tep=(DATA-4)*100/Label4.Caption=Line (a / 180 * 1344 + 1200, -b * 23.6 + 6240)-(st / 180 * 1344 + 1200, -tep * 23.6 + cc =sp=0.0002*st* st+Line (a / 180 * 1344 + 1200, -cc * 23.6 + 6240)-(st / 180 * 1344 + 1200, -sp * 23.6 + RGB(0,2

5、55,b = tep u0=u1 e1=e2 e2=e3e3sptep)偏差无量纲u1u0q0*e3q1*e2q2*e1)*4.44.4=4.5-0.1u1=3+q0*e3*4.4 If u1 4.5Then u1 = 4.5End Line(a /180* 1344 + 1200, -d * 23.6 *3+ 6240)-(st /180 * 1344 +1200, -u1 *23.6 * 3 +RGB(0,0,d = Call appedatfile1 a = stTimer2.Interval=Int(u1)*byData(1)=RetVal=ADAMTCP_Write6KPAddress,6050,1,1,1,byData(1) Timer2.Enabled = TrueEnd byData(1) = 0RetVal=ADAMTCP_Write6KPAddress,6050,1,1,1,byData(1) Timer2.Enabled = FalseEnd sp = 0.0002 * st * st + 30st = st + 1 End SubSubOpen C:s and Settings