来源： www.proview.se 开源控制系统 里面有瑞典钢板开发的防摇摆控制功能块，C编写的。

如需要S7-SCL或AB SCL版本可和我联系。

/* 

 * Proview   Open Source Process Control.

 * Copyright (C) 2005-2016 SSAB EMEA AB.

 *

 * This file is part of Proview.

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/*********************************************************************

**********************************************************************

*

*       S S A B  O X E L ?S U N D

*       = = = =  = = = = = = = = =

**********************************************************************

*

* Filename      : 

*

* Description   : Contains main functions for anti-sway control,

*               : called from plc

*                 

*               Date    Sign           Action

* Revision      050213  jonas_h        First edition

*               050721  jonas_h        Improved error handling: Errors are written to an internal buffer instead of being printed with printf(..). From the buffer, errors are stored in a String80 output, that can be connected e.g. to a DSup.

*                                      Extended functionality for automatic object: The soft maximum velocity, umaxS, can be changed while in travel (if e.g. in a low-speed area).

*                                      Transfer of set to manual object when disabling, allowing for continued anti-sway, and smooth travel.

*

*

**********************************************************************

**********************************************************************/

#include "ssabox_plc_antisway.h"

/*_*

  @aref ssab_antisway Ssab_AntiSway

*/

void Ssab_AntiSway_init(object)

     pwr_sClass_Ssab_AntiSway *object;

{

  int i;

  AS_OBJ_SETP->N = 0;

  AS_OBJ_SETP->extSum = 0.0;

  AS_OBJ_SETP->ph = NULL;

  object->other=NULL;

  for (i=0; i<2; i++) {

    object->messageQ[i] = 0;

//    AS_OBJ_MESSAGEQP(i) = NULL;

    (object->message[i])[79]='';

  }

}

void Ssab_AntiSway_exec(plc_sThread *tp, pwr_sClass_Ssab_AntiSway *object)

{

  int hoisting = FALSE;

  int newCall = FALSE;

  int hoisted = FALSE;

  int i;

  char *mstr;

  double omega, dt;

  const AS_shaper *shp;

  dt = tp->PlcThread->ScanTime; /* Constant scan time (the ideal value, not the measuremen of last cycle time) */

  object->done = TRUE;

  /***********************************************

   *  Step 1. Check current error status. 

   *          Reset if enable has been switched.

   ***********************************************/

  if (object->errstatus > AS_ERR_MINOR) { /* crucial error has occured since last reset. */

    if (!(object->errstatus & AS_ERR_DISABLED)) { /* Not already disabled */

      object->errstatus |= AS_ERR_DISABLED; /* set disabled flag */

      if (object->enable) /* the object was enabled when the crucial error occured */

  object->errstatus |= AS_ERR_WASENABLED; /* set wasenabled flag */

      if (object->verbose >= AS_VERB_DISABLED)/* Print disabled message if verbose */

printf(" AntiSway object disabled. Error status=%d ",object->errstatus);

      AS_ADDMESSAGE(AS_ALARMTYPE_DISABLED, &mstr,"AntiSway object stopped. Error status=%d",object->errstatus);

    }

    else if (object->errstatus & AS_ERR_WASENABLED) {/* already disabled, from enable mode. Reset errstatus if enable is switched off */

      if (!object->enable) 

object->errstatus=0;

    }

    else if (object->enable)/* already disabled, from not enable mode. Reset errstatus if enable is switched on */

      object->errstatus=0;

    newCall = TRUE;  //why? needed if errstatus is reset. in which case this will be an ordinary execution cycle. 

  }

  /************************************************

   *  Step 2. Receive input and check its validity

   ************************************************/

  /* 2.1 Determine if new call and get new input */

  object->enable = *object->enableP; 

  object->xc = *object->xcP;

  object->DLc = *object->DLcP;

  object->mode = *object->modeP;

  object->manual = *object->manualP;

  /* Get a pointer to the shaper corresponding to the current mode. */

  shp = AS_SetupIST(object->mode); 

  if (shp == NULL) { /* Non-valid mode - disable! */

    if (!(object->errstatus & AS_ERR_MODE)) { /* Error flag not already set. */

      object->errstatus |= AS_ERR_MODE; /* Set error flag */

      if (object->verbose >= AS_VERB_DISABLED) /* Print error message if verbose */

printf(" AntiSway: No shaper for current mode! Mode=%d ",object->mode);

      AS_ADDMESSAGE(AS_ALARMTYPE_DISABLED, &mstr,"AS: No shaper for current mode! Mode=%d",object->mode);  

    }

  }

  if ( object->manual && (object->autostatus & AS_AUTO_ON) ) { //switched from auto to manual

    AS_collapseSet(AS_OBJ_SETP, shp, AS_OBJ_AMAXSM);

    object->autostatus &= (~AS_AUTO_ON);

    newCall = TRUE;

  }

  else if ( !object->manual && !((object->autostatus & AS_AUTO_ON)) ) { //switched from manual to auto. 

    AS_collapseSet(AS_OBJ_SETP, shp, AS_OBJ_AMAXSA);

    object->autostatus |= AS_AUTO_ON;

    newCall = TRUE;

  }

  /* Fetch command velocity and command position and check its validity. This is done independently of mode */

  if (object->uCommand != *object->uCommandP) {

    object->uCommand = *object->uCommandP;

    /* Check command velocity */

    if (fabs(object->uCommand) > AS_OBJ_UMAXSM) { /* Non-valid command velocity - disable! */

antisway.rar