各同仁好,我现在有一个关于液压伺服阀控制的程序一直看不太明白,还望各位能给予答.


我公司有一矫直机,分为入口和出口两组液压缸,每组两个液压缸,每个液压缸有一个压力传感器和一个位移传感器作为闭环反馈,分别由各自的伺服板控制;
以下就是其中一组缸的控制程序,我能看懂的就把它注解一下,
不懂的我就留在那里或其后提问,还望高手解答!!

FUNCTION_BLOCK FB1201

TITLE = 'Control command calculation and application to SV (HGC cylinders)'//功能块标题
VERSION : '0.0'
//KNOW_HOW_PROTECT
AUTHOR : BAUDOU
NAME : SV_OUT
FAMILY : HGC

VAR_INPUT //变量声明

// Inputs
FORCE_DS : REAL; // HGC force Drive side (Tons)//从现场压力传感器传送过来的压力,这是入口一组当中的传动侧
FORCE_NDS : REAL; // HGC force Non Drive side (Tons))//从现场压力传感器传送过来的压力,这是入口一组当中的非传动侧

MAX_FORCE_CONTROL : REAL; // Maximum force on position controller (tons) (High value --> function not used)
AVE_CTRL_RESET : BOOL; // Used for tilting control during quick opening//用于当液压缸回缩时的同步控制
FOR_TOT_MODE_SW : BOOL; // Total force control mode (1=)//这是一个标志位,由1时是压力控制模式,0时是位置控制模式
FORCE_TOT_CTRL_EXIT : REAL; // Output of total force PD controller
POS_AVE_CTRL_EXIT : REAL; // Output of average position PD controller
FOR_DIF_MODE_SW : BOOL; // Differential force control mode (1=)
FORCE_DIF_CTRL_EXIT : REAL; // Output of differential force PD controller
POS_DIF_CTRL_EXIT : REAL; // Output of differential position PD controller
GAIN_OUT_NDS : REAL; // SV Linearisation screwing gain Non Drive Side
GAIN_IN_NDS : REAL; // SV Linearisation unscrewing gain Non Drive Side//gain应该是什么含意
GAIN_OUT_DS : REAL; // SV Linearisation screwing gain Drive Side
GAIN_IN_DS : REAL; // SV Linearisation unscrewing gain Drive Side
OFFSET_SV_NDS : REAL; // Bias compensation Non Drive Side
OFFSET_SV_DS : REAL; // Bias compensation Drive Side//bias这个单词在这里应该是什么意思?

// Parameters
MAX_FORCE_EF : REAL; // Maximum force control efficiency//这两个参数的作用??
SV_CMD_SCALE : INT := 100; // Scale of SV

END_VAR

VAR_OUTPUT
FORCE_LIM : BOOL; // Force limitation active
SV_SAT_FOR_DIF_CTRL : BOOL; // SV command saturated in order to keep differential controller efficiency
SV_CMD_NDS_NoBias : REAL; // Command to SV Non Drive Side without bias compensation//这一组带bias的输出和下面一组不带bias的输出有何区别????
SV_CMD_DS_NoBias : REAL; // Command to SV Non Drive Side without bias compensation
SV_CMD_NDS : REAL; // Command to SV Non Drive Side //与上面带bias的输出对应.在调用这个块的程序中使用的就是这一组输出.
SV_CMD_DS : REAL; // Command to SV Non Drive Side //这组输出在什么情况下为0???

END_VAR

VAR_TEMP
Temp1 : REAL;
Temp2 : REAL;
Temp3 : REAL;
Temp4 : REAL;
Temp5 : REAL;
Temp6 : REAL;
Temp7 : REAL;
Temp8 : REAL;
Temp9 : REAL;
Temp10 : REAL;
Temp11 : REAL;
Temp12 : REAL;
Delta : REAL;

END_VAR

VAR
Sense_SV_DS : REAL := 100000;//在这里定义有何意义??
Sense_SV_NDS : REAL := 100000;

END_VAR

BEGIN
//Force limitation
IF FORCE_DS >= FORCE_NDS THEN
Temp1 := FORCE_DS;
ELSE
Temp1 := FORCE_NDS;
END_IF;

Temp2 := (MAX_FORCE_CONTROL - Temp1) * MAX_FORCE_EF;//比较两侧压力,大的一侧参与temp2的计算,这组公式的意思是什么？？？
//End

IF FOR_TOT_MODE_SW THEN
Temp3 := FORCE_TOT_CTRL_EXIT;
ELSE
Temp3 := POS_AVE_CTRL_EXIT;
END_IF;

IF FOR_DIF_MODE_SW THEN
Temp4 := FORCE_DIF_CTRL_EXIT;
ELSE
Temp4 := POS_DIF_CTRL_EXIT;
END_IF;

//Tilting control in case of quick opening
IF AVE_CTRL_RESET THEN
Temp5 := 0;
Temp6 := 0;
ELSE
Temp5 := Temp3;
Temp6 := 0.9 * SV_CMD_SCALE;
END_IF;

//Limitation by force control
IF Temp5 >= Temp2 THEN
Temp7 := Temp2;
FORCE_LIM := 1;
ELSE
Temp7 := Temp5;
FORCE_LIM := 0;
END_IF;

(* //Limitation for SV scaling depending on linearisation gains
IF Sense_SV_NDS >= Sense_SV_DS THEN
Temp9 := Sense_SV_DS;
ELSE
Temp9 := Sense_SV_NDS;
END_IF;

Temp10 := Temp6 / Temp9;

IF Temp7 < -Temp10 THEN
Temp8 := -Temp10; //这一段没用
SV_SAT_FOR_DIF_CTRL := 1;
ELSIF Temp7 > Temp10 THEN
Temp8 := Temp10;
SV_SAT_FOR_DIF_CTRL := 1;
ELSE
Temp8 := Temp7;
SV_SAT_FOR_DIF_CTRL := 0;
END_IF;
*)

Temp8 := Temp7;

//SV command without bias compensation
SV_CMD_NDS_NoBias := Temp8 - Temp4;//sv_cmd_nobias在这里到底是意义??
SV_CMD_DS_NoBias := Temp8 + Temp4;

//NDS SV sense
IF SV_CMD_NDS_NoBias >= 0 THEN
Sense_SV_NDS := GAIN_OUT_NDS;//GAIN_OUT_NDS应该如何理解??
ELSE
Sense_SV_NDS := GAIN_IN_NDS;
END_IF;

//DS SV sense
IF SV_CMD_DS_NoBias >= 0 THEN
Sense_SV_DS := GAIN_OUT_DS;
ELSE
Sense_SV_DS := GAIN_IN_DS;
END_IF;

IF AVE_CTRL_RESET THEN
Temp11 := 0;
ELSE
Temp11 := -SV_CMD_SCALE;
END_IF;

//SV out
SV_CMD_NDS := SV_CMD_NDS_NoBias * Sense_SV_NDS + OFFSET_SV_NDS;//最终的输出由三个值计算而得,这三个值sv_cmd_nds_nobias,
sense_sv_nds,offset_sv_nds代表什么意思与现场有关系吗??
SV_CMD_DS := SV_CMD_DS_NoBias * Sense_SV_DS + OFFSET_SV_DS;

(*// Final limitations
IF SV_CMD_NDS > SV_CMD_SCALE THEN
SV_CMD_NDS := SV_CMD_SCALE;
ELSIF SV_CMD_NDS < Temp11 THEN
SV_CMD_NDS := Temp11;
END_IF;
//这一段没用到
IF SV_CMD_DS > SV_CMD_SCALE THEN
SV_CMD_DS := SV_CMD_SCALE;
ELSIF SV_CMD_DS < Temp11 THEN
SV_CMD_DS := Temp11;
END_IF;
*)

//Limitation taking into account full tilting correction for symetry
IF ABS(SV_CMD_NDS) > ABS(SV_CMD_DS) THEN
IF SV_CMD_NDS > SV_CMD_SCALE & SV_CMD_SCALE - OFFSET_SV_NDS <> 0 THEN
Delta := (SV_CMD_NDS_NoBias * Sense_SV_NDS) / (SV_CMD_SCALE - OFFSET_SV_NDS);
ELSIF SV_CMD_NDS < Temp11 & Temp11 - OFFSET_SV_NDS <> 0 THEN
Delta := (SV_CMD_NDS_NoBias * Sense_SV_NDS) / (Temp11 - OFFSET_SV_NDS);
ELSE
Delta := 1;
END_IF;
ELSE
IF SV_CMD_DS > SV_CMD_SCALE & SV_CMD_SCALE - OFFSET_SV_DS <> 0 THEN
Delta := (SV_CMD_DS_NoBias * Sense_SV_DS) / (SV_CMD_SCALE - OFFSET_SV_DS);
ELSIF SV_CMD_DS < Temp11 & Temp11 - OFFSET_SV_DS <> 0 THEN
Delta := (SV_CMD_DS_NoBias * Sense_SV_DS) / (Temp11 - OFFSET_SV_DS);
ELSE
Delta := 1;
END_IF;
END_IF;

SV_CMD_NDS := ((SV_CMD_NDS_NoBias * Sense_SV_NDS)/Delta) + OFFSET_SV_NDS;//这里的sv_cmd_nds与上面一段的
SV_CMD_DS := SV_CMD_DS_NoBias *
Sense_SV_DS + OFFSET_SV_DS的最终区别在哪里???
在什么情况下使用上面一组输出??在何种情况下使用此组作为输出???
SV_CMD_DS := ((SV_CMD_DS_NoBias * Sense_SV_DS)/Delta) + OFFSET_SV_DS;

END_FUNCTION_BLOCK