CIMR-VB4A0011BBA

• 型号：CIMR-VB4A0011BBA


• 数量：100


• 制造商：上海曦龙电气设备有限公司


• 有效期：2017/6/12 0:00:00

CIMR-VB4A0011BBA CIMR-VB4A0011BBA CIMR-VB4A0011BBA

输入多输出控制器方框图。由于需要测量垂荡和纵摇两个输入量,因此采用多输入多输出(MIMO控制方法,使用多变量PD控制器实现对艉压浪板和T型水翼动作的控制以达到减小船舶垂荡和纵摇的控制目标。以水平面为基准,为艉压浪板规定了一个-7.5°的初始位置,当有控制信号时,经过一个±7.5°范围内的限位信号,艉压浪板在0°至-15°范围内转动,否则艉压浪板调整至以水平面为基准的-7.5°。当有控制信号时T型水翼在±15°范围内运动,否则T型水翼调整至以水平面为基准的0°

unsigned char set_synchro(unsignedｃｈａｒcardno ,unsignedｃｈａｒno1 ,unsignedｃｈａｒno2,unsigned char mode, int pulse1  ,int pulse2 )

进口伺服电机驱动器    伺服电机控制器     零配件销售jsoknkudfg

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{

unsigned char OutByte[25];

unsigned char inbuf[12];

OutByte[0] = 0x68;

OutByte[1] = 0xb;

OutByte[2] = cardno;

OutByte[3] = 0x22;

OutByte[4] = no1;

OutByte[5] = no2;

OutByte[6] = mode;

OutByte[7] = pulse1 >>8;

OutByte[8] = pulse1 ;

OutByte[9] = pulse2 >>8;

OutByte[10] = pulse2 ;

OutByte[11] =OutByte[1] +OutByte[2] +OutByte[3] +OutByte[4] +OutByte[5] +OutByte[6] +OutByte[7] +OutByte[8] +OutByte[9] +OutByte[10];

USRAT_transmit(OutByte,12);

receive(inbuf);

return 1;

}

／＊

函数名:   inp_move3

功能：三轴直线插补

参数：

cardno    卡号

no1   X轴轴号

no2   Y轴轴号

no3   Z轴轴号

pulse1,pulse2,pulse3                    X-Y-Z轴移动的距离,范围（-8388608~+8388607）

mode  0：相对坐标  1：绝对坐标

返回值：

0 失败           1  成功

*/

unsigned char inp_move3(unsignedｃｈａｒcardno,unsignedｃｈａｒno1 ,unsignedｃｈａｒno2,unsigned char no3, long pulse1 ,long pulse2,long pulse3 ,unsignedｃｈａｒmode )

{

unsigned char OutByte[25];

unsigned char inbuf[12];

OutByte[0] = 0x68;

OutByte[1] = 0x14;

OutByte[2] = cardno;

OutByte[3] = 0x21;

OutByte[4] = no1;

OutByte[5] = no2;

OutByte[6] = no3;

OutByte[7] = pulse1>>24;

OutByte[8] = pulse1 >>16;

OutByte[9] = pulse1>> 8;

OutByte[10] = pulse1;

OutByte[11] = pulse2 >>24;

OutByte[12] = pulse2 >>16;

OutByte[13] = pulse2 >>8;

OutByte[14] = pulse2 ;

OutByte[15] = pulse3 >>24;

OutByte[16] = pulse3 >>16;

OutByte[17] = pulse3 >>8;

OutByte[18] = pulse3 ;  

OutByte[19] = mode;

OutByte[20] =OutByte[1] +OutByte[2] +OutByte[3] +OutByte[4]+OutByte[5] +OutByte[6] +OutByte[7] +OutByte[8] +OutByte[9] +OutByte[10] +OutByte[11] +OutByte[12] +OutByte[13] +OutByte[14]+OutByte[15] +OutByte[16] +OutByte[1]+OutByte[18] +OutByte[19] ;

USRAT_transmit(OutByte,21);

receive(inbuf);

return 1;

}

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