步进电机S曲线加减速控制生成器-VB6.0实现

程序功能：生成步进电机S曲线运动数组代码
程序语言：VB6.0

对应硬件线路连接见上章：
https://blog.csdn.net/LuDanTongXue/article/details/87869557
对应单片机程序见上章（PC端程序显示正常，手机端程序后半段显示不出来）：
https://blog.csdn.net/LuDanTongXue/article/details/87869806
程序详细使用方法请见：
https://blog.csdn.net/LuDanTongXue/article/details/87886580
程序下载地址：
https://download.csdn.net/download/ludantongxue/11114203

程序界面如下：

S曲线算法参照该博文：
https://blog.csdn.net/pengzhihui2012/article/details/52228822
源码如下：

Option ExplicitDim BuJuJiao As Double '步进电机步距角Dim F0 As Double '硬件频率Dim Nf As Double '定时器分频Dim v0 As Double '加速段启动速度Dim vt As Double '加速段最大速度Dim JSBuShu As Long '加速步数Dim JSJiaoDu As Double '加速段角度Dim XiFen As Double '驱动器细分Dim JSKuaiMan As Double '加速快慢，数值越大越慢Dim JSshijian As Double '加速时间Dim FenDuan As Double '将曲线分成梯形图Dim MCCiShu As Long '每个速断段脉冲次数Dim MCYuShu As Integer '分段不整除时最后的余数Dim Fmin As Double 'V0对应的脉冲频率Dim Fmax As Double 'Vt对应的脉冲频率Dim Fcurrent As Double '实时频率Dim DSChuZhi As Long '定时器1初值，采用溢出中断Dim i As Integer '计数Dim a0 As Long 'A0第一个脉冲的初值Dim DingShiQiFenPing As Integer '定时器1预分频数Dim ZhuanXiang As String '电机转动方向Public Function Max(a As Double, b As Double) As Double '求最大值If a < b ThenMax = bElseIf a >= b ThenMax = aEnd IfEnd FunctionPublic Function ST(ax As Double, ay As Double, n As Double, m As Double) '图框初始化'图框初始化Dim Kuandanwei As DoublePicture1.ScaleMode = 6 '设置图片框单位Kuandanwei = Picture1.Width / 400Picture1.ScaleTop = -Picture1.Height / 2 '定义坐标原点xPicture1.ScaleLeft = -Picture1.Width / 2 '-10 * Kuandanwei '定义坐标原点yPicture1.Circle (0, 0), 1000'X轴Picture1.Line (-8 * Kuandanwei, 0)-(380 * Kuandanwei, 0)Picture1.Line (380 * Kuandanwei, 0)-(370 * Kuandanwei, 10 * Kuandanwei)Picture1.Line (380 * Kuandanwei, 0)-(370 * Kuandanwei, -10 * Kuandanwei)Picture1.CurrentX = 380 * KuandanweiPicture1.CurrentY = 0Picture1.Print "t"'Y轴Picture1.Line (0, 0.45 * Picture1.Height)-(0, -0.45 * Picture1.Height)Picture1.Line (0, -0.45 * Picture1.Height)-(-10 * Kuandanwei, -0.45 * Picture1.Height + 10 * Kuandanwei)Picture1.Line (0, -0.45 * Picture1.Height)-(10 * Kuandanwei, -0.45 * Picture1.Height + 10 * Kuandanwei)Picture1.CurrentX = 0Picture1.CurrentY = -0.5 * Picture1.HeightPicture1.Print "S"'绘制坐标点Picture1.PSet (n * Kuandanwei, -ax * m / 3), vbRedPicture1.PSet (n * Kuandanwei, -ay * m / 3), vbBluen = n + 1If n >= 360 Thenn = n - 360Picture1.ClsEnd IfEnd FunctionPublic Function QuXian() '曲线图框初始化,BS步进电机步数为x轴，vt为Y轴'图框初始化Picture1.ClsPicture1.DrawWidth = 1Dim Bili As Double '绘图比例Bili = 0.7Dim Kuandanwei As Double 'x方向图片放缩比例Dim Gaodanwei As Double 'y方向图片放缩比例Form1.ScaleMode = 6 '设置FORM框单位Picture1.ScaleMode = 6 '设置图片框单位Kuandanwei = Picture1.Width / (JSBuShu) '根据步进电机总时间计算图片放缩比例Gaodanwei = Picture1.Height / Max(v0, vt)Picture1.ScaleTop = -Picture1.Height + 5 * Kuandanwei '定义坐标原点yPicture1.ScaleLeft = -5 * Kuandanwei '定义坐标原点xPicture1.CurrentX = 0Picture1.CurrentY = 0Picture1.Print "0"'X轴Dim x1 As DoubleDim y1 As DoubleDim x2 As DoubleDim y2 As DoubleDim x3 As DoubleDim y3 As Doublex1 = Bili * (JSBuShu * Kuandanwei)y1 = Bili * 0x2 = Bili * (x1 - 3) ' 5 * Kuandanwei)y2 = Bili * (y1 + 3) '5 * Kuandanwei)x3 = x2y3 = -y2Picture1.Line (0, 0)-(x1, y1)Picture1.Line (x1, y1)-(x2, y2)Picture1.Line (x1, y1)-(x3, y3)Picture1.CurrentX = x1Picture1.CurrentY = y1Picture1.Print Int(JSshijian * 1000) & "ms"'Y轴Dim x4 As DoubleDim y4 As DoubleDim x5 As DoubleDim y5 As DoubleDim x6 As DoubleDim y6 As Doublex4 = Bili * 0y4 = Bili * (-Max(v0, vt) * Gaodanwei)x5 = Bili * (x4 - 3) '-5* Kuandanwei)y5 = Bili * (y4 - 3) '-5* Kuandanwei)x6 = -x5y6 = y5Picture1.Line (0, 0)-(x4, y4)Picture1.Line (x4, y4)-(x5, y5)Picture1.Line (x4, y4)-(x6, y6)Picture1.CurrentX = x4 + KuandanweiPicture1.CurrentY = y4Picture1.Print Max(v0, vt) & "r/s"'绘制坐标点Picture1.DrawWidth = 5Dim i As IntegerFor i = 1 To JSBuShuPicture1.PSet (Bili * i * Kuandanwei, Bili * -Gaodanwei * (v0 + (vt - v0) / (1 + Exp(-JSKuaiMan * (i - JSBuShu / 2) / (JSBuShu / 2))))), vbRedNextEnd FunctionPrivate Sub Command1_Click()BuJuJiao = Text2.TextF0 = Text3.TextNf = Text4.Textv0 = Text5.Textvt = Text6.TextJSJiaoDu = Text7.TextXiFen = Text8.TextJSKuaiMan = Text9.TextIf Text4.Text = 1 ThenDingShiQiFenPing = 1ElseIf Text4.Text = 8 ThenDingShiQiFenPing = 2ElseIf Text4.Text = 64 ThenDingShiQiFenPing = 3ElseIf Text4.Text = 256 ThenDingShiQiFenPing = 4ElseIf Text4.Text = 1024 ThenDingShiQiFenPing = 5End IfJSBuShu = JSJiaoDu / (BuJuJiao / XiFen)Fmin = v0 * 360 / (BuJuJiao / XiFen)Fmax = vt * 360 / (BuJuJiao / XiFen)Text1 = ""JSshijian = 0''''''''''''''''''''''''''''加速段A0数组生成'''''''''''For i = 1 To JSBuShuFcurrent = Fmin + (Fmax - Fmin) / (1 + Exp(-JSKuaiMan * (i - JSBuShu / 2) / (JSBuShu / 2)))DSChuZhi = 65535 - 1 / (Fcurrent * 2) * F0 / Nf '16位定时器If i <> JSBuShu ThenText1 = Text1 & "0X" & Hex(DSChuZhi) & ","ElseText1 = Text1 & "0X" & Hex(DSChuZhi)End IfJSshijian = JSshijian + 1 / FcurrentNexta0 = 65535 - 1 / ((Fmin + (Fmax - Fmin) / (1 + Exp(-JSKuaiMan * (1 - JSBuShu / 2) / (JSBuShu / 2)))) * 2) * F0 / NfText10 = JSBuShuText12 = JSshijian * 1000Text1 = "A[" & JSBuShu & "]={" & Text1 & "};" & vbCrLf & vbCrLf''''''''''''''''''''''''''''Text11.Text = (2 * F0 * BuJuJiao) / (65535 * Nf * 360 * XiFen) '计算最小启动速度QuXian '绘制速度曲线End Sub

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