华科转速测量和工作台综合测控实验

转速测量及工作台实验班级：人员：实验项目：工作台实验、转速测量实验时间：2012年6月目录1、工作台实验1.1实验目的--------------------------------------------------------------------------- 3 1.2实验原理--------------------------------------------------------------------------- 3 1.3实验代码解析--------------------------------------------------------------------- 5 1.4实验结果展示及分析------------------------------------------------------------14 1.5实验小结及感想------------------------------------------------------------------152、转子实验台——转速测量实验2.1 实验目的----------------------------------------------------------------------------16 2.2 实验原理----------------------------------------------------------------------------16 2.3 实验内容及设计过程-------------------------------------------------------------16 2.4 实验代码解析----------------------------------------------------------------------20 2.5 实验结果展示及分析-------------------------------------------------------------28 2.6 实验小结及感想-------------------------------------------------------------------311.1实验目的实验平台对软件的要求，需要安装Matlab7.0.4 version和Microsoft Visual c++6.0 。

MATLAB是目前在国际上被广泛接受和使用的科学与工程计算软件。

虽然Cleve Moler教授开发它的初衷是为了更简单、更快捷地解决矩阵运算，但MATLAB现在的发展已经使其成为一种集数值运算、符号运算、数据可视化、图形界面设计、程序设计、仿真等多种功能于一体的集成软件。

通过用matlab对实验工作台进行快进、工进、快退的控制，学习matlab在控制方面的知识。

学习matlab种simulink函数的运用。

2.2 实验原理运用到的主要simulink模块的介绍。

驱动电机运动的运动指令代码都是在VC下面编写的，实验之前已经有了用VC做了一些s-function并生成*.dll文件（使用s-function example模板编写好c 文件之后再用mex将其编译成dll文件），包括InitOpenIPpos.dll，GetCurPos.dll，SetPara.dll ，下面依次对部分s-function作出简要说明。

InitOpenIPpos.dll初始化运动控制卡，其功能主要是使伺服上电并且设定电机的一些参数，如：运动模式（速度，位置，模式等），最大速度值，最大加速度值等等。

以上这些都已经在InitOpenIP.c文件里面设定好了，可以打开这个文件查看。

比如，我们根据实际情况设定电机的运动模式为位置模式（zl_set_prfl_ pos (0)）。

GetCurPos.dll读取当前轴的位置。

如果某个simulink模块调用了GetCurPos.dll文件后，在设置参数时需要注意，parameters项填写“1”是代表当前读取的是1号轴即电机轴的位置，如果填写的是“3”则是代表立摆的转动轴，此时读出的是倒立摆的摆角位移。

SetPara.dll设置各种不同运动模式时的运动参数。

(1)仅实现手动的快进及快退功能。

要实现快进、工进、快退功能，首先可以从较简单的功能实现开始，因此我们选取了最先实现快进、快退功能来开始试验，下图是实现该功能的原理图：手动切换开关可实现工作台的快进、快退。

（2）实现快进、工进及手动的快退功能。

执行程序后，工作台开始自动快进，到达预定位置后减速工进，随后手动换开关Manual Switch，实现快退。

（3）实现自动地快进、工进和快退。

执行程序后，工作台开始自动快进，到达预定位置后减速工进，工进一段时间后达到预定位置，switch自动换向，实现快退。

1.3实验代码解析(1)s-function setpara代码#define S_FUNCTION_NAME SetPara#define S_FUNCTION_LEVEL 2/*定义函数*/#include "simstruc.h"#include "ZLPCIDrv.h"#include "ZLPCI400d.h"#include "PendX.h"/*添加头文件*/#pragma comment(lib, "ZLPCIDrv.lib")#pragma comment(lib, "ZLPCI400d.lib")#pragma warning( disable: 4761 )#pragma warning( disable: 4244 )/*预定义的标识符，指定注释的类型,指定库函数*///--------------------------------------------------------------------------/*====================** S-function methods **====================*/#define ERR_INVALID_PARAM_1 \"Invalid axis number. The first parameter must be \n an unsigned integer number between 1 and 4."#define ERR_INVALID_PARAM_2 \"Invalid number of input ports. The second parameter must be \n an unsigned integer number between 2 and 5."#define AXIS_NUM (ssGetSFcnParam(S, 0))#define NUM_INPUTS (ssGetSFcnParam(S, 1))/*定义输入值*/#define MDL_CHECK_PARAMETERSstatic void mdlCheckParameters(SimStruct *S){uint8_T axis_num;int_T inputs;axis_num = (uint8_T) *(mxGetPr(AXIS_NUM));if( axis_num < 1 || axis_num > 4 ) {ssSetErrorStatus(S, ERR_INV ALID_PARAM_1);return;}/*AXIS_NUMD 的有效范围*/inputs = (int_T) (*(mxGetPr(NUM_INPUTS)));if( inputs < 2 || inputs > 5 ) {ssSetErrorStatus(S, ERR_INV ALID_PARAM_2);return;}/* NUM_INPUTS 的有效范围*/}/* Function: mdlInitializeSizes =============================================== */static void mdlInitializeSizes(SimStruct *S){int i;int_T inputs;ssSetNumSFcnParams(S, 2);if (ssGetNumSFcnParams(S) == ssGetSFcnParamsCount(S)) {mdlCheckParameters(S);if (ssGetErrorStatus(S) != NULL) {return;}} else {return; /* Simulink will report a parameter mismatch error */}inputs = (int_T) (*(mxGetPr(NUM_INPUTS)));if (!ssSetNumInputPorts(S, inputs)) return;for(i=0; i<inputs; i++) {ssSetInputPortWidth(S, i, 1);ssSetInputPortDirectFeedThrough(S, i, 1);}if (!ssSetNumOutputPorts(S, 1)) return;ssSetOutputPortWidth(S, 0, 1);ssSetNumSampleTimes(S, 1);/* Take care when specifying exception free code - see sfuntmpl_doc.c */ssSetOptions(S, SS_OPTION_EXCEPTION_FREE_CODE);}/* Function: mdlInitializeSampleTimes ========================================= * Abstract: Specifiy that we inherit our sample time from the driving block.*/static void mdlInitializeSampleTimes(SimStruct *S){ssSetSampleTime(S, 0, INHERITED_SAMPLE_TIME);ssSetOffsetTime(S, 0, 0.0);}// Function: mdlOutputs =======================================================static void mdlOutputs(SimStruct *S, int_T tid){InputRealPtrsType uPtrs = ssGetInputPortRealSignalPtrs(S,0);real_T *y = ssGetOutputPortRealSignal(S,0);unsigned short axis_status, inputs;unsigned short axis_num;/* set the current axis number as defined by S_function first parameter */axis_num = (uint8_T) *(mxGetPr(AXIS_NUM));inputs = (uint8_T) (*(mxGetPr(NUM_INPUTS)));if(inputs >= 2){zl_set_vel(*uPtrs[0],axis_num-1);zl_set_acc(*uPtrs[1],axis_num-1);}if(inputs >= 3){zl_set_pos((long)*uPtrs[2],axis_num-1);}if(inputs >= 4){zl_set_max_acc(*uPtrs[3],axis_num-1);}if(inputs >= 5){return;}//update card parameterszl_update(axis_num-1);zl_get_status(&axis_status,axis_num-1);//axis_status = 16 & axis_status;//*y = (axis_status ? 1 : 0);*y=axis_status&127;}/* Function: mdlTerminate =====================================================* Abstract:* No termination needed, but we are required to have this routine.*/static void mdlTerminate(SimStruct *S){}#ifdef MA TLAB_MEX_FILE /* Is this file being compiled as a MEX-file? */#include "simulink.c" /* MEX-file interface mechanism */#include "cg_sfun.h" /* Code generation registration function */#endif(2) s-function GetCurPos代码#define S_FUNCTION_NAME GetCurPos#define S_FUNCTION_LEVEL 2/*定义函数*/#include "simstruc.h"#include "ZLPCIDrv.h"#include "ZLPCI400d.h"#include "PendX.h"/*添加头文件*/#pragma comment(lib, "ZLPCIDrv.lib")#pragma comment(lib, "ZLPCI400d.lib")#pragma warning( disable: 4761 )#pragma warning( disable: 4244 )/*预定义的标识符，指定注释的类型,指定库函数*///--------------------------------------------------------------------------#define ERR_INVALID_PARAM \"Invalid axis number. The parameter must be \n an unsigned integer number between 1 and 4."/* total number of block parameters */enum {PARAM = 0, NUM_PARAMS};#define AXIS_NUM (ssGetSFcnParam(S, 0))#define MDL_CHECK_PARAMETERSstatic void mdlCheckParameters(SimStruct *S){uint8_T axis_num;axis_num = (uint8_T) *(mxGetPr(AXIS_NUM));if( axis_num < 1 || axis_num > 4 ) {ssSetErrorStatus(S, ERR_INV ALID_PARAM);return;}/* Function: mdlInitializeSizes =============================================== */static void mdlInitializeSizes(SimStruct *S){ssSetNumSFcnParams(S, 1);if (ssGetNumSFcnParams(S) == ssGetSFcnParamsCount(S)) {mdlCheckParameters(S);if (ssGetErrorStatus(S) != NULL) {return;}} else {return; /* Simulink will report a parameter mismatch error */}if (!ssSetNumInputPorts(S, 0)) return;if (!ssSetNumOutputPorts(S,1)) return;ssSetOutputPortWidth(S, 0, 1);ssSetNumSampleTimes(S, 1);/* Take care when specifying exception free code - see sfuntmpl_doc.c */ssSetOptions(S, SS_OPTION_EXCEPTION_FREE_CODE);}/* Function: mdlInitializeSampleTimes ========================================= * Abstract: Specifiy that we inherit our sample time from the driving block.*/static void mdlInitializeSampleTimes(SimStruct *S){ssSetSampleTime(S, 0, CONTINUOUS_SAMPLE_TIME);ssSetOffsetTime(S, 0, 0.0);}// Function: mdlOutputs =======================================================static void mdlOutputs(SimStruct *S, int_T tid){real_T *y = ssGetOutputPortRealSignal(S,0);uint8_T axis_num;long data;/* set the current axis number as defined by S_function first parameter */axis_num = (uint8_T) *(mxGetPr(AXIS_NUM));/* get position of axis that is defined by S-func parameter */zl_get_actl_pos(&data,axis_num-1);*y = data;}/* Function: mdlTerminate =====================================================* Abstract:* No termination needed, but we are required to have this routine.*/static void mdlTerminate(SimStruct *S){}#ifdef MA TLAB_MEX_FILE /* Is this file being compiled as a MEX-file? */#include "simulink.c" /* MEX-file interface mechanism */#else#include "cg_sfun.h" /* Code generation registration function */#endifs-fuction函数InitOpenIPpos#define S_FUNCTION_NAME InitOpenIPpos#define S_FUNCTION_LEVEL 2/*定义函数*#include "simstruc.h"#include "ZLPCIDrv.h"#include "ZLPCI400d.h"#include "PendX.h"/*添加头文件*/#pragma comment(lib, "ZLPCIDrv.lib")#pragma comment(lib, "ZLPCI400d.lib")#pragma warning( disable: 4761 )#pragma warning( disable: 4244 )/*预定义的标识符，指定注释的类型,指定库函数*//* Function: mdlInitializeSizes =============================================== */static void mdlInitializeSizes(SimStruct *S){ssSetNumSFcnParams(S, 0);if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {return; /* Parameter mismatch will be reported by Simulink */}if (!ssSetNumInputPorts(S, 1)) return;ssSetInputPortWidth(S, 0, 1);ssSetInputPortDirectFeedThrough(S, 0, 1);if (!ssSetNumOutputPorts(S,0)) return;ssSetNumSampleTimes(S, 1);/* Take care when specifying exception free code - see sfuntmpl_doc.c */ssSetOptions(S, SS_OPTION_EXCEPTION_FREE_CODE);}/* Function: mdlInitializeSampleTimes ========================================= * Abstract: Specifiy that we inherit our sample time from the driving block.*/static void mdlInitializeSampleTimes(SimStruct *S){ssSetSampleTime(S, 0, INHERITED_SAMPLE_TIME);ssSetOffsetTime(S, 0, 0.0);}#define MDL_START /* Change to #undef to remove function */#if defined(MDL_START)/* Function: mdlStart =======================================================* Abstract:* This function is called once at start of model execution. If you* have states that should be initialized once, this is the place* to do it. */static void mdlStart(SimStruct *S){InputRealPtrsType uPtrs = ssGetInputPortRealSignalPtrs(S,0);//performing all necessary initializationsZLLoadDriver();zl_board_reset();Sleep(200);zl_fifo_reset();Sleep(200);zl_set_smpl_time(400);zl_set_kp(0.1,0);zl_set_ki(0.0,0);zl_set_kd(0.0,0);zl_set_kvff(0,0);zl_pid_update(1);zl_set_prfl_pos(0);zl_set_max_acc(7500000,0);zl_set_max_vel(500000,0);zl_set_pos_lm(900000000,0);zl_set_neg_lm(-900000000,0);zl_set_pos_err_lm(32767,0);zl_set_vel(0, 0);zl_set_acc (5000000, 0);zl_update(0);zl_axis_on(0);zl_motor_enable(1);}#endif /* MDL_START */// Function: mdlOuts =======================================================static void mdlOutputs(SimStruct *S, int_T tid)}/* Function: mdlTerminate =====================================================* Abstract:* No termination needed, but we are required to have this routine.*/static void mdlTerminate(SimStruct *S){zl_motor_enable(0);zl_axis_off(0);ZLUnloadDriver();}#ifdef MA TLAB_MEX_FILE /* Is this file being compiled as a MEX-file? */#include "simulink.c" /* MEX-file interface mechanism */#else#include "cg_sfun.h" /* Code generation registration function */#endif1.4实验结果展示及分析快进速度100000，工进速度30000，switch的切换由完成，切换为位移300000（如下图1、2）图1 图2由工进到快退由有图switch2及控制，（如下图1、2）当位移大于400000时由工进切换为快退，快退速度为200000，方向由下图3控制图1 图2 图3因此总体控制流程图为：1.5实验小结及感想通过工作台控制实验是一项比较综合的控制实验，包括快进，工进，快退的控制，通过实验了解了matlab的基本用法和simulink函数的用法，学到了知识。