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📄 main.lst

📁 说明:采用与C极其类似的PL/M-96语言编写。 单片机采用Intel的96系列KB; 开发环境为Wave6000; 该程序的功能为采用模糊滑膜变结构 控制算法
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 765   6               R0=0;
 766   6               HSO_COMMAND=02H;
 767   6               HSO_TIME=TIMER1+04H;
 768   6               R0=0;
 769   6               R0=0;
 770   6             END;
 771   5             T06:DO;
 772   6               HSO_COMMAND=21H;
 773   6               HSO_TIME=TIMER1+TURNON;
 774   6               R0=0;
 775   6               R0=0;
 776   6               HSO_COMMAND=00H;
 777   6               HSO_TIME=TIMER1+TURNOFF;
 778   6               R0=0;
 779   6               R0=0;
 780   6               HSO_COMMAND=03H;
 781   6               HSO_TIME=TIMER1+04H;
 782   6               R0=0;
 783   6               R0=0;

 784   6             END;
 785   5             T07:DO;
 786   6               HSO_COMMAND=22H;
 787   6               HSO_TIME=TIMER1+TURNON;
 788   6               R0=0;
 789   6               R0=0;
 790   6               HSO_COMMAND=01H;
 791   6               HSO_TIME=TIMER1+TURNOFF;
 792   6               R0=0;
 793   6               R0=0;
 794   6               HSO_COMMAND=00H;
 795   6               HSO_TIME=TIMER1+04H;
 796   6               R0=0;
 797   6               R0=0;
PL/M-96 COMPILER    MAIN                                                                     06/12/:5 17:37:49  PAGE  15


 798   6             END;
 799   5             T08:DO;
 800   6               HSO_COMMAND=23H;
 801   6               HSO_TIME=TIMER1+TURNOFF;
 802   6               R0=0;
 803   6               R0=0;
 804   6               HSO_COMMAND=02H;
 805   6               HSO_TIME=TIMER1+TURNON;
 806   6               R0=0;
 807   6               R0=0;
 808   6               HSO_COMMAND=01H;
 809   6               HSO_TIME=TIMER1+04H;
 810   6               R0=0;
 811   6               R0=0;
 812   6             END;
 813   5            END;
 814   4          END;
 815   3        END;

 816   2        ELSE DO;
 817   3          IF RUN_SPD<60 THEN DO;
 819   4            TURNON=02H;
 820   4            TURNOFF=02H;
 821   4            DO CASE ORDER;
 822   5             T50:DO;
 823   6               HSO_COMMAND=22H;
 824   6               HSO_TIME=TIMER1+TURNON;
 825   6               R0=0;
 826   6               R0=0;
 827   6               HSO_COMMAND=00H;
 828   6               HSO_TIME=TIMER1+TURNOFF;
 829   6               R0=0;
 830   6               R0=0;
 831   6             END;
 832   5             T51:DO;
 833   6               HSO_COMMAND=23H;
 834   6               HSO_TIME=TIMER1+TURNON;
 835   6               R0=0;
 836   6               R0=0;
 837   6               HSO_COMMAND=01H;
 838   6               HSO_TIME=TIMER1+TURNOFF;
 839   6               R0=0;
 840   6               R0=0;
 841   6             END;
 842   5             T52:DO;
 843   6               HSO_COMMAND=20H;
 844   6               HSO_TIME=TIMER1+TURNON;
 845   6               R0=0;
 846   6               R0=0;
 847   6               HSO_COMMAND=02H;
 848   6               HSO_TIME=TIMER1+TURNOFF;
 849   6               R0=0;
 850   6               R0=0;
 851   6             END;
 852   5             T53:DO;
 853   6               HSO_COMMAND=21H;
 854   6               HSO_TIME=TIMER1+TURNOFF;
PL/M-96 COMPILER    MAIN                                                                     06/12/:5 17:37:49  PAGE  16


 855   6               R0=0;
 856   6               R0=0;
 857   6               HSO_COMMAND=03H;
 858   6               HSO_TIME=TIMER1+TURNON;
 859   6               R0=0;
 860   6               R0=0;
 861   6             END;
 862   5            END;
 863   4          END;
 864   3          ELSE IF AIM_SPD>=1600 THEN DO;
 866   4            TURNON=T_SPAN*4/5;
 867   4            TURNOFF=T_SPAN/3;
 868   4            DO CASE ORDER;
 869   5             T90:DO;
 870   6               HSO_COMMAND=21H;
 871   6               HSO_TIME=TIMER1+TURNON;
 872   6               R0=0;
 873   6               R0=0;
 874   6               HSO_COMMAND=03H;
 875   6               HSO_TIME=TIMER1+TURNOFF;
 876   6               R0=0;
 877   6               R0=0;
 878   6               HSO_COMMAND=00H;
 879   6               HSO_TIME=TIMER1+02H;
 880   6             END;
 881   5             T91:DO;
 882   6               HSO_COMMAND=22H;
 883   6               HSO_TIME=TIMER1+TURNON;
 884   6               R0=0;
 885   6               R0=0;
 886   6               HSO_COMMAND=00H;
 887   6               HSO_TIME=TIMER1+TURNOFF;
 888   6               R0=0;
 889   6               R0=0;
 890   6               HSO_COMMAND=01H;
 891   6               HSO_TIME=TIMER1+02H;
 892   6             END;
 893   5             T92:DO;
 894   6               HSO_COMMAND=23H;
 895   6               HSO_TIME=TIMER1+TURNON;
 896   6               R0=0;
 897   6               R0=0;
 898   6               HSO_COMMAND=01H;
 899   6               HSO_TIME=TIMER1+TURNOFF;
 900   6               R0=0;
 901   6               R0=0;
 902   6               HSO_COMMAND=02H;
 903   6               HSO_TIME=TIMER1+02H;
 904   6             END;
 905   5             T93:DO;
 906   6               HSO_COMMAND=20H;
 907   6               HSO_TIME=TIMER1+TURNON;
 908   6               R0=0;
 909   6               R0=0;
 910   6               HSO_COMMAND=02H;
 911   6               HSO_TIME=TIMER1+TURNOFF;
 912   6               R0=0;
PL/M-96 COMPILER    MAIN                                                                     06/12/:5 17:37:49  PAGE  17


 913   6               R0=0;
 914   6               HSO_COMMAND=03H;
 915   6               HSO_TIME=TIMER1+02H;
 916   6             END;
 917   5            END;
 918   4          END;
 919   3          ELSE IF  AIM_SPD>=1200 THEN DO;
 921   4            TURNON=T_SPAN*14/15;
 922   4            TURNOFF=T_SPAN/3;
 923   4            DO CASE ORDER;
 924   5             T85:DO;
 925   6               HSO_COMMAND=21H;
 926   6               HSO_TIME=TIMER1+TURNON;
 927   6               R0=0;
 928   6               R0=0;
 929   6               HSO_COMMAND=03H;
 930   6               HSO_TIME=TIMER1+TURNOFF;
 931   6               R0=0;
 932   6               R0=0;
 933   6               HSO_COMMAND=00H;
 934   6               HSO_TIME=TIMER1+02H;

 935   6             END;
 936   5             T86:DO;
 937   6               HSO_COMMAND=22H;
 938   6               HSO_TIME=TIMER1+TURNON;
 939   6               R0=0;
 940   6               R0=0;
 941   6               HSO_COMMAND=00H;
 942   6               HSO_TIME=TIMER1+TURNOFF;
 943   6               R0=0;
 944   6               R0=0;
 945   6               HSO_COMMAND=01H;
 946   6               HSO_TIME=TIMER1+02H;
 947   6             END;
 948   5             T87:DO;
 949   6               HSO_COMMAND=23H;
 950   6               HSO_TIME=TIMER1+TURNON;
 951   6               R0=0;
 952   6               R0=0;
 953   6               HSO_COMMAND=01H;
 954   6               HSO_TIME=TIMER1+TURNOFF;
 955   6               R0=0;
 956   6               R0=0;
 957   6               HSO_COMMAND=02H;
 958   6               HSO_TIME=TIMER1+02H;
 959   6             END;
 960   5             T88:DO;
 961   6               HSO_COMMAND=20H;
 962   6               HSO_TIME=TIMER1+TURNON;
 963   6               R0=0;
 964   6               R0=0;
 965   6               HSO_COMMAND=02H;
 966   6               HSO_TIME=TIMER1+TURNOFF;
 967   6               R0=0;
 968   6               R0=0;
 969   6               HSO_COMMAND=03H;
PL/M-96 COMPILER    MAIN                                                                     06/12/:5 17:37:49  PAGE  18


 970   6               HSO_TIME=TIMER1+02H;
 971   6             END;
 972   5            END;
 973   4          END;
 974   3          ELSE IF  AIM_SPD>=800 THEN DO;
 976   4            TURNON=T_SPAN/15;
 977   4            TURNOFF=T_SPAN/3;
 978   4            DO CASE ORDER;
 979   5             T80:DO;
 980   6               HSO_COMMAND=22H;
 981   6               HSO_TIME=TIMER1+TURNON;
 982   6               R0=0;
 983   6               R0=0;
 984   6               HSO_COMMAND=03H;
 985   6               HSO_TIME=TIMER1+TURNOFF;
 986   6               R0=0;
 987   6               R0=0;
 988   6               HSO_COMMAND=00H;
 989   6               HSO_TIME=TIMER1+04H;
 990   6               R0=0;
 991   6               R0=0;
 992   6             END;
 993   5             T81:DO;
 994   6               HSO_COMMAND=23H;
 995   6               HSO_TIME=TIMER1+TURNON;
 996   6               R0=0;
 997   6               R0=0;
 998   6               HSO_COMMAND=00H;
 999   6               HSO_TIME=TIMER1+TURNOFF;
1000   6               R0=0;
1001   6               R0=0;
1002   6               HSO_COMMAND=01H;
1003   6               HSO_TIME=TIMER1+04H;
1004   6               R0=0;
1005   6               R0=0;
1006   6             END;
1007   5             T82:DO;
1008   6               HSO_COMMAND=20H;
1009   6               HSO_TIME=TIMER1+TURNON;
1010   6               R0=0;
1011   6               R0=0;
1012   6               HSO_COMMAND=01H;
1013   6               HSO_TIME=TIMER1+TURNOFF;
1014   6               R0=0;
1015   6               R0=0;
1016   6               HSO_COMMAND=02H;
1017   6               HSO_TIME=TIMER1+04H;
1018   6               R0=0;
1019   6               R0=0;
1020   6             END;
1021   5             T83:DO;
1022   6               HSO_COMMAND=21H;
1023   6               HSO_TIME=TIMER1+TURNON;
1024   6               R0=0;
1025   6               R0=0;
1026   6               HSO_COMMAND=02H;
1027   6               HSO_TIME=TIMER1+TURNOFF;
PL/M-96 COMPILER    MAIN                                                                     06/12/:5 17:37:49  PAGE  19


1028   6               R0=0;
1029   6               R0=0;
1030   6               HSO_COMMAND=03H;
1031   6               HSO_TIME=TIMER1+04H;
1032   6               R0=0;
1033   6               R0=0;
1034   6             END;
1035   5            END;
1036   4          END;
1037   3          ELSE IF AIM_SPD>=400 THEN DO;
1039   4            TURNON=T_SPAN/3;
1040   4            TURNOFF=T_SPAN/3;
1041   4            DO CASE ORDER;
1042   5             T70:DO;
1043   6               HSO_COMMAND=22H;
1044   6               HSO_TIME=TIMER1+TURNON;
1045   6               R0=0;
1046   6               R0=0;
1047   6               HSO_COMMAND=03H;
1048   6               HSO_TIME=TIMER1+TURNOFF;
1049   6               R0=0;
1050   6               R0=0;
1051   6               HSO_COMMAND=00H;
1052   6               HSO_TIME=TIMER1+04H;
1053   6               R0=0;
1054   6               R0=0;
1055   6             END;
1056   5             T71:DO;
1057   6               HSO_COMMAND=23H;
1058   6               HSO_TIME=TIMER1+TURNON;
1059   6               R0=0;
1060   6               R0=0;
1061   6               HSO_COMMAND=00H;
1062   6               HSO_TIME=TIMER1+TURNOFF;
1063   6               R0=0;
1064   6               R0=0;
1065   6               HSO_COMMAND=01H;
1066   6               HSO_TIME=TIMER1+04H;
1067   6               R0=0;
1068   6               R0=0;
1069   6             END;
1070   5             T72:DO;
1071   6               HSO_COMMAND=20H;
1072   6               HSO_TIME=TIMER1+TURNON;
1073   6               R0=0;
1074   6               R0=0;
1075   6               HSO_COMMAND=01H;
1076   6               HSO_TIME=TIMER1+TURNOFF;
1077   6               R0=0;
1078   6               R0=0;
1079   6               HSO_COMMAND=02H;
1080   6               HSO_TIME=TIMER1+04H;
1081   6               R0=0;
1082   6               R0=0;
1083   6             END;
1084   5             T73:DO;
1085   6               HSO_COMMAND=21H;
PL/M-96 COMPILER    MAIN                                                                     06/12/:5 17:37:49  PAGE  20


1086   6               HSO_TIME=TIMER1+TURNON;
1087   6               R0=0;
1088   6               R0=0;
1089   6               HSO_COMMAND=02H;
1090   6               HSO_TIME=TIMER1+TURNOFF;
1091   6               R0=0;
1092   6               R0=0;
1093   6               HSO_COMMAND=03H;
1094   6               HSO_TIME=TIMER1+04H;
1095   6               R0=0;
1096   6               R0=0;
1097   6             END;
1098   5            END;
1099   4          END;
1100   3          ELSE IF AIM_SPD>=200 THEN DO;
1102   4            TURNON=T_SPAN*3/5;
1103   4            TURNOFF=T_SPAN/3;
1104   4            DO CASE ORDER;
1105   5             T60:DO;
1106   6               HSO_COMMAND=22H;
1107   6               HSO_TIME=TIMER1+TURNON;
1108   6               R0=0;
1109   6               R0=0;
1110   6               HSO_COMMAND=03H;
1111   6               HSO_TIME=TIMER1+TURNOFF;
1112   6               R0=0;
1113   6               R0=0;
1114   6               HSO_COMMAND=00H;
1115   6               HSO_TIME=TIMER1+04H;
1116   6               R0=0;
1117   6               R0=0;
1118   6             END;
1119   5             T61:DO;
1120   6               HSO_COMMAND=23H;
1121   6               HSO_TIME=TIMER1+TURNON;
1122   6               R0=0;
1123   6               R0=0;
1124   6               HSO_COMMAND=00H;
1125   6               HSO_TIME=TIMER1+TURNOFF;
1126   6               R0=0;
1127   6               R0=0;
1128   6               HSO_COMMAND=01H;
1129   6               HSO_TIME=TIMER1+04H;
1130   6               R0=0;
1131   6               R0=0;

1132   6             END;
1133   5             T62:DO;
1134   6               HSO_COMMAND=20H;
1135   6               HSO_TIME=TIMER1+TURNON;
1136   6               R0=0;
1137   6               R0=0;
1138   6               HSO_COMMAND=01H;
1139   6               HSO_TIME=TIMER1+TURNOFF;
1140   6               R0=0;
1141   6               R0=0;
1142   6               HSO_COMMAND=02H;
PL/M-96 COMPILER    MAIN                                                                     06/12/:5 17:37:49  PAGE  21


1143   6               HSO_TIME=TIMER1+04H;
1144   6               R0=0;
1145   6               R0=0;

1146   6             END;
1147   5             T63:DO;

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