【正文】 00 Next data(2, i) = pci7484ad(hplx, False, 1, 32000) 39。對通道1采樣,位移傳感器 For j = 0 To 1000 39。延時時間需要調(diào)整 s = 100 Next data(3, i) = pci7484ad(hplx, False, 2, 32000) 39。對通道0采樣,壓力表1 For j = 0 To 1000 39。延時時間需要調(diào)整 s = 100 Next data(4, i) = pci7484ad(hplx, False, 3, 32000) 39。對通道1采樣,壓力表2 For j = 0 To 1000 39。延時時間需要調(diào)整 s = 100 Next Next i 39。讀入電磁鐵的狀態(tài) did(0) = pci7484di(hplx, False, 0) 39。1DT狀態(tài),接在0端口上 did(1) = pci7484di(hplx, False, 1) 39。2DT狀態(tài),接在1端口上 hplx = pci7484close(hplx) 39。把二十個數(shù)據(jù)由大到小排列 For i1 = 1 To 4 For i2 = 0 To 19 For i3 = i2 To 20 If data(i1, i2) data(i1, i2 + 1) Then temp = data(i1, i2) data(i1, i2) = data(i1, i2 + 1) data(i1, i2 + 1) = temp End If Next Next 39。去掉最大的和最小的，取平均值 For i3 = 1 To 18 average = data(i1, i3) + average Next i3 data(i1, 0) = format1(average / 18) Next i1data(1,0) = 6 * data(1, 0) * 5 / 4095 ‘壓力傳感器的值 data(2,0) = 20 * data(2, 0) * 10 / 4095 ‘位稱傳感器的值 data(3,0) = 6 * data(3, 0) * 5 / 4095 ‘壓力表1的值 data(4,0) = 6 * data(4, 0) * 5 / 4095 ‘壓力表2的值PID調(diào)節(jié)算法程序：Private Function PIDAdjust(ByVal pressure As Single, ByVal data As Single, ByVal max As Single) As Single Dim a As Single Dim B As Single Dim C As Single Dim SP As Single Dim PV As Single E = SP = pressure 39。壓力設(shè)定值 PV = data 39。本次采樣的壓力反饋值 EK = SP PV If Abs(EK) = E Then 39。分離積分 A = Kp * (1 + 1 / Ti + Td) B = Kp * (1 + 2 * Td) C = Kp * Td 39。計算控制參數(shù)A、B、C Else A = Kp * (1 + Td) B = Kp * Td C = 0 End If Uk = Uk1 +A * EK B * EK1 + C * EK2 If Int(Uk) = 0 Then Uk = 0 39。對輸出進行調(diào)理，實際使用時靈活掌握。 If Int(Uk) max Then Uk = max Uk1 = Uk 39。Uk,Uk1,E,Ek,Ek1,Ek2是全局變量，記錄歷史數(shù)據(jù) EK2 = EK1 EK1 = EK PIDAdjust = Uk 39。返回輸出End Function Uk1=UkEK=SPPV取給定值SP和測量值PV開始輸出U（k）|Ek| 163。e?計算A、B、C值U(k)=Uk1+AEkBEk1Uk=Uk1+AEkBEk1+CEk2返回Ek2=Ek1,Ek1=Ek增量型PID算式程序流程圖以下是最能體現(xiàn)面向?qū)ο蟪绦蛘Z言的類，它們與面向過程的編程有了本質(zhì)的區(qū)別下面是一個畫珊格的類 Public HorzSplits As Long Public VertSplits As Long Private GridColor As Long Private ShowGrid As Boolean Private PBox As PictureBox Private pBoxHeight As Long Private pBoxWidth As Long Private GridPosition As Long Public Enum DrawLineType TYPE_LINE = 0 TYPE_POINT = 1 End Enum Public LineType As DrawLineType 39。劃線的類型：線或點 Const const_tolerance = 39。誤差 Public Function InitDrawLine(pB As PictureBox, LColor As Long, SGrid As Boolean, Optional GColor As Variant) = vbPixels 39。設(shè)置象素 LineColor = LColor 39。設(shè)置顏色 ShowGrid = SGrid 39。顯示珊格 pBoxHeight = pBoxWidth = If IsMissing(GColor) Then 39。測試GColor有沒有值，如沒有則， GridColor = RGB(0, 130, 0) 39。默認值綠色 Else: GridColor = GColor End If Set PBox = pB 39。用來測試類是否已經(jīng)被初始化 End Function Public Sub RePaint() Dim X As Single Dim Y As Single If PBox Is Nothing Then Exit Sub End If 39。首先清除圖片，然后畫網(wǎng)格(如果有的話)，最后畫線。 If (ShowGrid) Then If LineType = TYPE_LINE Then = GridColor For X = 0 To pBoxWidth 1 Step ((pBoxWidth 1) / (VertSplits + 1)) const_tolerance (X, 0)(X, pBoxHeight) Next For Y = 0 To pBoxHeight 1 Step ((pBoxHeight 1) / (HorzSplits + 1)) const_tolerance (0, Y)(pBoxWidth, Y) Next End If If LineType = TYPE_POINT Then = GridColor For X = 0 To pBoxWidth 1 Step ((pBoxWidth 1) / (VertSplits + 1)) const_tolerance For Y = 0 To pBoxHeight (X, Y) Next Next For X = 0 To pBoxHeight 1 Step ((pBoxHeight 1) / (HorzSplits + 1)) const_tolerance For Y = 0 To pBoxWidth (Y, X) Next Next End If End If End Sub下面是定義一個創(chuàng)建七段碼的類，在picture中。Option Explicit Private Type Coordinate X As Integer Y As Integer End Type Dim BasePoint As Coordinate Dim SegWidth As Integer Dim SegHeight As Integer Dim p As PictureBox Property Let BackColor(Color As Long) = Color End Property Private Sub DrawNumber(Number As Integer) Select Case Number Case 0 DrawSegment(1):DrawSegment(2):DrawSegment(3)DrawSegment (4): DrawSegment (5): DrawSegment (6) Case 1 DrawSegment (2): DrawSegment (3) Case 2DrawSegment(1):DrawSegment(2):DrawSegment(7)DrawSegment (5): DrawSegment (4) Case 3DrawSegment(1):DrawSegment(2):DrawSegment(7)DrawSegment (3):DrawSegment (4) Case 4DrawSegment(2):DrawSegment(3):DrawSegment(7)DrawSegment (6) Case 5DrawSegment(1):DrawSegment(6):DrawSegment(7)DrawSegment (3):DrawSegment (4) Case 6DrawSegment(1):DrawSegment(6):DrawSegment(7)DrawSegment (3): DrawSegment (4): DrawSegment (5) Case 7 DrawSegment (1): DrawSegment (2):DrawSegment (3) Case 8DrawSegment(1):DrawSegm