Tham khảo tài liệu 'robot manipulator control theory and practice - frank part 16', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 593 WRITEC DIGITAL CONTROLLER c OR FILTER F DEF N READ A ANS IF . F .OR. . f ANS F . C .OR. . c ANS C WRITE CONTIN. INPUT SUBROUTINE REQUIRED DEF N READ A ANSC IF . Y .OR. . y ANSC Y 30 WRITE HOW MANY STATES TO BE PLOTTED READ MX IF GO TO 37 DO 35 1 1 MX 35 IX I I WRITE WHICH ONES DEF IN ORDER READ IX I 1 1 MX 37 WRITE PLOT HOW MANY OUTPUTS READ MZ IF GO TO 50 DO 36 1 1 MZ 36 IZ I I WRITE WHICH ONES DEF IN ORDER READ IZ I 1 1 MZ c 50 WRITEC RUN TIME READ TR WRITE PRINTING TIME INTERVAL ON SCREEN READ TPR IF ANS EQ. F .OR. . C THEN WRITE SAMPLE PERIOD READ TD END IF WRITEC PLOTTING TIME INTERVAL READ TPL . F .AND. . C TD TPL WRITEC RUNGE-KUTTA INTEGRATION PERIOD READ TS NPR NINT TRZTPR NPL NINT TPRZTD NT NINTCTD TPL NTD NINT TPLZTS c TIME 0. IT 0 IP 0 IK O DO 60 1 1 NX 60 X I SX I Y 0 0 TIME DO 70 1 1 MX 70 Y O I X IX I IF THEN . C CALL DIG IK TD X . Y CALL SYSINP IT X TIME CALL FCTIME X XP Copyright 2004 by Marcel Dekker Inc. 594 Software for Controller Simulation IF . F CALL DIG IK TD X DO 75 1 1 MZ 75 Y D MX I Z IZ I END IF c DO 110 1 1 NPR DO 90 J 1 NPL IF . C CALL DIG IK TD X DO 100 K 1 NT DO 85 KID 1 NTD IF IT. EQ. 0 THEN WRITE WRITE 80 IX IND IND 1 MX 80 F0RMAT 35X STATES TIME 10 112 WRITE Y 0 IND IND 0 MX MZ END IF IF . Y CALL SYSINP IT X TIME CALL RUNKUT TIME TS X NX IT IT 1 85 TIME FLOAT IT TS IP IP 1 Y IP 0 TIME DO 101 Ir 1 MX 101 Y IP L X IX D IF GO TO 100 DO 105 L 1 MZ 105 Y IP MX L Z IZ L 100 CONTINUE IK IK 1 IF . F CALL DIG IK TD X 90 CONTINUE WRITE Y IP L L MZ 110 CONTINUE c 120 WRITE 130 130 F0RMAT 2X ENTER 0 TO FILE ANSWERS 8X 1 TO QUIT St 8X 2 TO RESTART 8X 3 TO PICK NEW STATES k 8X 4 TO CHANGE TIME SCALE READ I GO TO 150 10 30 50 1 c WRITE OUTPUT FILE NAME READ A FILNAM OPEN 20 FILE FILNAM REWIND 20 WRITE 20 MX MZ WRITE 20 IP 1 DO 140 J MZ DO 140 1 O IP 140 WRITE 20 8 Y I J
