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厦门莫格电气自动化有限公司
主营：AB,ABB,GE,本特利,福克斯波罗,英维斯 - 18050036945
厦门莫格电气自动化有限公司
主营：AB,ABB,GE,本特利,福克斯波罗,英维斯
9
Westinghouse 5X00357G04 前面提到算法在内核层实现，陀螺闭环控制中，需要产生正弦余弦信号。为了解决内核浮点兼容性和减少指令计算时间，本平台采用查表的方式，自制了一个正余弦表，将浮点运算转换为**运算。因为PC机CPU主频高，所以查表的方式也能加速代码的运行。 1．2、稳定的实时数据传输设计 低延迟优化能使数据在较短时间里从硬件传输到PC端。但是由于PC安装的是多任务的操作系统，无法保证每次都能在一个周期的同一个时间点响应中断，这一特性决定了这个较短时间不是一个固定值，而是一个范围。在实际中，取值不定的这个较短时间会引发数据传输的不稳定，从而导致对陀螺的控制不连续。 针对陀螺控制的不连续问题，以中断延时为例，分析了由该现象产生的负面影响，并设计了一套可靠的控制时序，如图3所示。假设它们都发生在ISR中，在一个周期中，进中断函数后，先读取下位机中AD的数据，进行数据处理，将解析完的数据再经过总线返回DA的值。图3a表示在中断和传输延时都固定时，正常的数据传输过程。而实际应用中，中断和传输延时都会波动。以中断延时为例，图3b中*二个中断信号到达时，假设已延时△t1，后续的读写操作相应的也会延迟△t1.当FPGA（下位机）往DA2寄存器写数据的时刻，写入的是上一周期中的DA1里的值，因为PC端并没有及时返回DA2的值（延时△t1），导致数据没有实时更新;另外，还有丢失中断的可能性，如图3b中的中断3.这两个问题都将加大陀螺控制的不稳定性。 由此可知，为了达到陀螺数据传输的稳定性和可靠性要求，除了要优化MSI中断控制方式和PIO方式传输方式，还需要上位机即PC和下位机即FPGA之间制定一套高效的握手协议。 ——————————————————————————————————————— 厦门莫格电气自动化有限公司 杨小姐（区域经理） 电话： 传真：0592-3514751（请备注杨工收） Q 邮箱：3443643092@ 诚信经营,质量为首,诚信至上,公司坚持"莫格在用户身边,用户在莫格心中" 的服务宗旨.以一级产品竭诚为广大用户提供优质服务. ——————————————————————————————————————— 【官网/ 【价格】如此低价,**一家 【货期】大量现货,下单后即可发货 【质量】全新原装,进口现货 【**】产品经过专业检测，质保一年,15天包退换 【服务标准】降低客户的停机时间以及维护成本,减少所有的工业机械和生产设备运行故障,延长控制系统的寿命! Phoenix Contact IB IL SSI-PAC Ord. Nr. 28 61 86 5 -sealed- Phoenix Contact IB IL 24 DO 4-PAC Ord. Nr. 28 61 27 6 -sealed- Phoenix Contact IB IL RS 232-PAC Ord. Nr. 28 61 35 7 -sealed- Phoenix Contact BGE6007 BGE6007 Digital Servo Controller -used- Phoenix Contact NEF 1 -6 2783082 NETZENTST?RFILTER -used- Phoenix Contact Interbus IB IL 24 PWR IN-PAC No: 2861331 - sealed- in OVP Phoenix Contact IB IL 24 DI 4-PAC Inline-Klemme No: 2861234 - unused - in OVP Phoenix Contact IB IL24 SEG-PAC Segmentklemme - unused - in OVP Phoenix Contact IB IL24 SEG-PAC Segmentklemme - sealed - in OVP Phoenix Contact LED-Baustein 2952305 EMG 22-LED 7S/24 VE=10 Stück unused OVP Phoenix Contact IB ST 24 V.24 Ord.-Nr. 2725480 -unused/OVP- Phoenix Contact IB ST 24 V.24 Ord.-No. 2725480 -sealed- Phoenix Contact IBS IP 400 ME-ELR 2-3A DI4 Ord.-Nr. 2732907 -revised/sealed/OVP- Phoenix Contact überspannungsschutz FLT-CP-1S-350 No: 2859738 - unused - Phoenix Contact Sensor/Aktor-Kabel SAC-3P-M12MS/3,0 VE=5 Stück - Sealed - Phoenix Contact Interbus IBS IP 400 ME-ELR 1-3A DI4 Ord. Nr. 27 32 89 7 -sealed- Phoenix Contact IBS IP 500 ELR W-60A DI4/4 Ord.-No. 2751755 -unbenutzt/OVP- Phoenix Contact Interbus IBS S7 400 DSC/ I-T 27 19 962 -used- Phoenix Contact IBS RL 24 DIO 8/8/8-LK ID-No. 2724847 - used - Phoenix Contact IBS SL 24 BK-T IBSSL24BK-T Ord.-Nr. 2719551 Buskoppler -used- Phoenix Contact Interbus Inline-Modul IBS IL 24 BK-T No.:2726188 - used - Phoenix Contact Trennverst?rker MCR-CP-I/I-00 Art:2769585 - unused - in OVP Phoenix Contact Interbus IBS S7 400 ETH DSC /I-T Ord.-Nr. 2731102 -used- Phoenix Contact Optokoppler EMG 12-OV-230AC VE=10Stück - unused - in OVP Phoenix Contact CM 125-PS-230-AC/24DCU/5 Netzteil - used - Phoenix Contact FLT-CP-3C-350 FLTCP3C350 Flashtrab/Valvetrab - unused - in OVP Phoenix Contact Kommunikations-Modul PSM-EG-PROFIB/FO-E/G - unused - in OVP Phoenix Contact Kommunikations-Modul PSM-EG-Profib/FO-T/G - used - Phoenix Contact Kommunikations-Modul PSM-EG-Profib/FO-T/G - unused - in OVP Phoenix Contact MCR-SL-S-1-5-I-DCI-230 Ord.-Nr. 2814825 -unsealed/unused/OVP- Phoenix Contact MCR-SL-S-1-5-I-DCI-230 Ord.-Nr. 2814825 -sealed- Phoenix Contact VAL-CP-3C-350 überspannungsschutz Art.-No. 2859547 -unused - OVP 10x Phoenix Contact PLC-RSC-230UC/21-21AU Ord.-No. 2967141 2967044 -unused/OVP- Phoenix Contact MCR-SL-S-1/5-I-DCI-24 Art.-No. 2814812 -unbenutzt/OVP 10x Phoenix Contact PR2-BSC2/4X21 Art.-No. 2833563 -sealed- Phoenix Contact Interbus IBS SL IP 28,5 BK-T-2 Bus-Koppler 2731351 -used/OVP- Phoenix Contact IBS SAB PLSET Art.-No. 2751506 -unbenutzt- Phoenix Contact MCR-PT100-U-DC Ord.-Nr. 2810311 -used- Phoenix Contact MCR-PT100/I Art.-Nr. 2810353 -used- Phoenix Contact MCR-C-U/I-4 Art.: 2781592 Trennverst?rker - used - Phoenix-Contact MCR-C-U/U Trennverst?rker 2781602 - used - Phoenix Contact InterBus-S Digital-Output IBS 24 DO I Art.2767972 - used - Phoenix Contact InterBus IBS SL IP 28,5 BK-T-2 Bus-Koppler 2731351 - used - Phoenix Contact Interbus IBS S5 DAB Ord.-Nr. 2767231 Version: C -used- Phoenix Contact Interbus IBC S5/SL Ord.-Nr. 2760267 -used- Phoenix Contact VAL-MS 230/3+1 Ord.-No. 2838209 -used- Phoenix Contact IBS RT24 DIO 16/16-T Ord.-Nr. 2753601 Remote Terminal -used- PHOENIX CONTACT UM-HOZ462/1-1-1-1-2-2/G Industrierelais m. Indikator - used - Phoenix Contact IB STME 24 BDI 8/4 2751674 -used- Phoenix Contact IB STME 24DI 32/2 E:07 Ord.No. 2754985+IBST ZF 24 DI32/2 -used- Phoenix Contact IBS STME 24 BKDIO8/8/3-T 2752961+IBS ST24BK DIO8/8/3-T -used- Phoenix Contact SKBI 64/C64 Ord.-Nr. 2263036 -unbenutzt/OVP- Phoenix Contact SKBI 64/C64 Ord.-Nr. 2263036 -sealed- Phoenix Contact IB IL 24 DI 4 Ord.-Nr. 2726214 - sealed - Phoenix Contact Einspeiseklemme IB IL 24 PWR IN 2726311 -unused- Phoenic Contact MCR-C-U/I-0 Art.:2781589 3-Wege-Trennverst?rker - unused - Phoenix Contact Interbus IB IL 24 DI 8 Ord-Nr.2726227 Inline-Klemme - unused - Phoenix Contact MCR-C-U/I-4 Art.: 2781592 Trennverst?rker - unused - Phoenix Contact VAL-MS 230/FM überspannungsableiter 28-39-13-0 - unused - Phoenix Contact FLT-PLUS CTRL-2.5 Ord. Nr. 2800121 28 00 12 1 -unbenutzt in OVP- PHOENIX CONTACT Netzteil Quint-PS-3x400-500AC/24DC/5 Output DC 24V 5A used Phoenix Contact IBS S5 DCB/I-T Interbus-S ID-No. 2758156 -used- PHOENIX CONTACT IBS STME 24 BK RB-T 2752932 - IBS ST 24 BK RB-T 2753504 -used- PHOENIX CONTACT INTERBUS IBS STME 24 BK LB-T No.2753245 - used - Phoenix Contact IB IL 24 DO 16 -sealed- Phoenix Contact Interbus IB IL 24 DI 8-2MBD Ord Nr. 2819037 *Gebraucht* Phoenix Contact Interbus IB IL 24 DI 8-2MBD Ord Nr. 2819040 *Gebraucht* Phoenix Contact Sicherheitsrelais PSR-SCP-24UC/ESL4/3x1/1x2/B 2981059 gebraucht Phoenix-Contact Relais REL-MR-24DC/21-21 VE:10Stück 240V 8A Neu/OVP Phoenix Contact FLKM14/FLK14/ZFKDS/DO8/SO200 *Neu/OVP* Phoenix Contact FLKM14/FLK14/ZFKDS/DO8/SO200 *Versiegelt* Phoenix Contact VAL-CP-1S-350 VF *Neu/OVP* Phoenix Contact FLK-PVB 2/36 übergabemodul *Neu/OVP* Phoenix Contact FLK-PVB 2/36 übergabemodul *Versiegelt* Phoenix Contact VAL-CP-1S-350 VF *Versiegelt* Phoenix Contact FLT 35 *Versiegelt* Phoenix Contact Hand-Vorort-Bedienger?t f. IBS HVO - 2836052 gebraucht/used Phoenix Contact Leiterplattenstechverbinder PC 4/ 5-STF-7,62 VE: 50 St. Neu/OVP Phoenix Contact IB IL 400 ELR 1-3A 2727352 Inline-Klemme gebraucht / used Phoenix Contact Servoverst?rker IB IL DC AR 48/10A - 2819286 gebraucht /used Phoenix Contact Systemanschlu? PLC-V8/FLK14/IN Ord.Nr.2296553 Neu/OVP Phoenix Copntact Systemanschlu? PLC-V8/FLK14/OUT gebraucht / used Phoenix Contact Sensor/Aktorbox SACB-4/4-5,0PUR Ord.Nr.1680940 Neu Phoenix Contact Sensor/Aktorbox SACB-8/8-5,0PUR Ord.Nr.1680982 Neu/OVP Phoenix Contact Durchgangsreihenklemme UKH50 Ord.Nr. 3009118 VE:10 Stück Neu/OVP Phoenix Contact IB IL 24 TC IBIL24TC Thermistorklemme 2727417 Neu / OVP Phoenix Contact Bus Koppler - IL PB BK DI8 DO4/EF-PAC - 2692322 Neu / OVP Phoenix Contact 2943903 Spannungsregler EMG45-NZG/G24/SI 12VAC/5VDC gebraucht PHOENIX CONTACT Netzteil Quint-PS-3x400-500AC/24DC/5 Output DC 24V 5A used Phoenix Contact IBS S5 DCB/I-T Interbus-S ID-No. 2758156 -used- PHOENIX CONTACT IBS STME 24 BK RB-T 2752932 - IBS ST 24 BK RB-T 2753504 -used- PHOENIX CONTACT INTERBUS IBS STME 24 BK LB-T No.2753245 - used - Phoenix Contact IB IL 24 DO 16 -sealed- Phoenix Contact Interbus IB IL 24 DI 8-2MBD Ord Nr. 2819037 *Gebraucht* Phoenix Contact Interbus IB IL 24 DI 8-2MBD Ord Nr. 2819040 *Gebraucht* Phoenix Contact Sicherheitsrelais PSR-SCP-24UC/ESL4/3x1/1x2/B 2981059 gebraucht Phoenix-Contact Relais REL-MR-24DC/21-21 VE:10Stück 240V 8A Neu/OVP Phoenix Contact FLKM14/FLK14/ZFKDS/DO8/SO200 *Neu/OVP* Phoenix Contact FLKM14/FLK14/ZFKDS/DO8/SO200 *Versiegelt* Phoenix Contact VAL-CP-1S-350 VF *Neu/OVP* Phoenix Contact FLK-PVB 2/36 übergabemodul *Versiegelt* Phoenix Contact VAL-CP-1S-350 VF *Versiegelt* Phoenix Contact FLT 35 *Versiegelt* Phoenix Contact Hand-Vorort-Bedienger?t f. IBS HVO - 2836052 gebraucht/used Phoenix Contact Leiterplattenstechverbinder PC 4/ 5-STF-7,62 VE: 50 St. Neu/OVP Phoenix Contact IB IL 400 ELR 1-3A 2727352 Inline-Klemme gebraucht / used Phoenix Contact Servoverst?rker IB IL DC AR 48/10A - 2819286 gebraucht /used Phoenix Contact Systemanschlu? PLC-V8/FLK14/IN Ord.Nr.2296553 Neu/OVP Phoenix Copntact Systemanschlu? PLC-V8/FLK14/OUT gebraucht / used Phoenix Contact Sensor/Aktorbox SACB-4/4-5,0PUR Ord.Nr.1680940 Neu Phoenix Contact Sensor/Aktorbox SACB-8/8-5,0PUR Ord.Nr.1680982 Neu/OVP Phoenix Contact Durchgangsreihenklemme UKH50 Ord.Nr. 3009118 VE:10 Stück Neu/OVP Phoenix Contact IB IL 24 TC IBIL24TC Thermistorklemme 2727417 Neu / OVP Phoenix Contact Bus Koppler - IL PB BK DI8 DO4/EF-PAC - 2692322 Neu / OVP Phoenix Contact IB IL 24 DO 4 -2726256 Digital-Ausgabekl. 24V DC Neu / OVP Phoenix Contact Einspeiseklemme IB IL 24 PWR IN 2726311 -sealed- Phoenix Contact Steckverbinder FKC 2,5/ 3-ST-5,08 1873061 VE:24 Stück Neu Phoenix Contact SAC-5P-M12Y/2XM12FS VP Y-Verbinder Art.: 1683468 ungebraucht Phoenix Contact Profibusstecker SUBCON-PLUS-PROFIB/PG/SC2 Art.2708245 Neu / OVP Phoenix Contact Subcon-Plus-Profib 27 44 34 8 Profibusstecker Neu / OVP Phoenix-Contact IL-PB-BK-DP/V1 Bus Terminal Neu / OVP Phoenix Contact QUINT-PS/3AC/24DC/10 Ord.No.: 2866705 -Neu/ohne OVP- Phoenix Contact Quint-PS-100-240AC/30DC/4,8/EFD Ord.No. 2736699 -sealed- Phoenix Contact SACB-6Q/4P-L-SC Art.-Nr. 1662942 -Neu/OVP- Phoenix Contact SACB-6Q/4P-L Art.-Nr. 1662942 -sealed- PHOENIX CONTACT IB STME 24 DO 32/2 2754370 -gebraucht- Phoenix Contact IB STME 24 BK-T 2754367 -used- Phoenix Contact IB STME 24 DIO 8/8/3-2A-MB 2731209 + Tr?ger 2731144 -used- Phoenix Contact SUBCON-PLUS 9/F 2744241 Busstecker *Neu/OVP* Phoenix Contact IBS STME 24 BKDIO8/8/3-LK 2751221 + IBS ST24BKRB-LKDIO8/8/3-LK Phoenix Contact SUBCON-PLUS-CAN/SC2 2708999 PHOENIX CONTACT Canbus-Stecker Subcon-Plus-Can Phoenix Contact Cable-D 9SUB/B/S/600/KONFEK/S Ord.-No. 2302049 -Neu- Phoenix Contact SUBCON-PLUS-CAN/AX Order Nr.: 23 06 56 6 2306566 -OVP- Phoenix Contact IBS RT AIO 4/2-T 2753009 Interbus-S -used- Phoenix Contact IB IL 400 ELR 1-3A 2727352 Inline-Klemme -unsealed- Phoenix Contact IB IL 400 ELR 1-3A 2727352 Inline-Klemme -sealed- Phoenix Contact POWERTRAB FM BlitzstromAbleiter Ord. Nr. 2794657 -used- PHOENIX CONTACT IBS 24 DI/32 Module-No. 142 Ord.-No. 2784421 -used- 10 x Phoenix Contact PLC-RSC-120UC/21 Ord. Nr. 29 66 19 7 2966197 unused - OVP Phoenix Contact PLC-RSP-120UC/21-21 Order Nr. 29 12 54 9 2912549 10 x Phoenix Contact PLC-RSP-120UC/21-21 Ord. Nr. 29 12 54 9 2912549 -OVP- Phoenix Contact ELR W3-24DC/500AC-9 # 2297316 Phoenix Contact IB ST 24 AO 4/SF 2754312 + 2754354 -used- Phoenix Contact FLKMS-D25 SUB/B 2281759 Phoenix Contact IBS S5 DCB/I-T Art. Nr. 2758156 -OVP- Phoenix Contact FLT-Plus ctrl-2.5/l 2818957 überspannungsschutz - ohne OVP - Phoenix Contact SUBCON 15/F-SH 2761596 - unused/OVP - Phoenix Contact Y-Verteiler/Verbinder SAC-3P-M12Y 1683413 Phoenix Contact FLT-Plus Ctrl-2.5/l Ord.-Nr. 2818957 überspannungsschutz Phoenix Contact InterBus IB ST 24 DI 32/2 2754927 Input (190) -used- Phoenix Contact InterBus IB ST 24 DO 32/2 2754325 Output (189) 10 Stück Phoenix Contact UKH 50 - 3009118 30 09 11 8 -OVP versiegelt- 10 Stück Phoenix Contact UKH 95 - 3010013 30 10 01 3 -OVP versiegelt- 10 Stück Phoenix Contact UKH 95 - 3010013 30 10 01 3 -OVP ge?ffnet- Phoenix Contact IB STME 24 BDI 8/4 2751674 Phoenix Contact IB STME 24 BAI 2/SF IBSTME24BAI2SF 2723961 - unused - Phoenix Contact RC-06S1N12T0T1 1593967 Phoenix Contact VAL-MS 320/3+1/FM-UD Ord.-Nr. 2856689 Phoenix Contact VAL-MS 320/3+1/FM-UD Ord.-Nr. 2856689 - sealed - Phoenix Contact QUINT POWER QUINT-PS/1AC/24DC/10 Phoenix Contact FL Switch TX Ord.-No. 2832218 Phoenix Contact Quint-PS-100-240AC/24DCV/5/EX 2938853 Phoenix Contact ECP-E 4 A DC24V 4 x Phoenix Contact PLC-BSP-24DC/21 Ord.-No. 2967219 Relaisklemme -unused/OVP- Phoenix Contact PLC-RSP-24DC/21 Ord.-Nr. 2966472 Relaisklemme PHOENIX CONTACT QUINT-PS-100-240AC Ord.ID: 2938581 -used- Phoenix Contact FL Switch SFN 5TX Ord. Nr. 2891152 -OVP versiegelt- Phoenix Contact IBS IP 24 RFC/LK/LOOP-T Ord.-Nr. 2722917 -unbenutzt- Phoenix Contact MINI-PS-100-240AC/24DC/1 Order-Nr. 2938840 -OVP versiegelt- Phoenix Contact PSR-SCP-24UC/URM/5X1/2X2 Ord.-No. 2863747 -used- Phoenix Contact Quint Power Supply, QUINT-PS-100-240AC/24DC/10 # 2938604 -used- Phoenix Contact PACT MCR-V2-6315-95-1600-5A-1 2277255 - unused - in OVP Phoenix Contact PSR-SCP-230UC/ESAM4/3X1/1X2/B 2901428 - UNSEALED - Phoenix Contact PSR-SCP-230UC/E?SAM4/3X1/1X2/B 2901428 Phoenix Contact CPC 5015 PM-CO DVG-CPC501538-HW Phoenix Contact MVSTBW 2,5/12-ST 1792621 Klemmleiste VE=50 Stck. Phoenix Contact MC 1,5/13-ST-3,5 1840476 VE=50Stck. Phoenix Contact IB ST 24 AI 4/SF4 Art.-Nr: 2750565 SEALED Phoenix Contact IB ST 24 AO 4/SF Art.-Nr. 2754312 + 2754354 -used/OVP- Phoenix Contact IB ST 24 AO 4/SF Art.-No. 2754312 SEALED Phoenix Contact IB ST 24 BDI 8/4 Art.-No. 2750808 Phoenix Contact IB ST 24 BDO16/3-250 2750167 Phoenix Contact IB ST 24 BDO16/3-250 2750167 + 2751700 Phoenix Contact FLS IB M 12 DI 16 M12 2736314 Dezentrales I/O-Ger?t Phoenix Contact FLS PB M12 DI 8 M12 2736123 Anschlussblock Phoenix Contact MC 1,5/12-ST-3,5 1840463 VE = 50 Stck. SEALED Phoenix Contact MCVW 1,5/5-ST-3,81 1827004 - 50 Stck. Phoenix Contact ST-REL7-HW230/4X21 2827197 Relaisstecker - VE = 5 Stck. Phoenix Contact SKBI 64/F48 SKBI64F48 Phoenix Contact SKBI 64/F48 SKBI6448 Phoenix Contact MCR-SL-S-100-I-LP MCSLS100ILP 5x Phoenix Contact SAC-3P-M12Y/2XM12FS Phoenix Contact QUINT-PS/3AC724DC/40 Ord.No.: 2866802 Phoenix Contact UM45-2FLK14/S7/MKKDS3 2306485 Phoenix Contact IB ST 24 BDI 16/4 2750170 + IB STME 24 BDI 16/4 2751687 unsealed Phoenix Contact IB ST 24 BDI 16/4 2750170 + IB STME 24 BDI 16/4 2751687 - used Phoenix Contact IB ST 24 BDI 16/4 ID-No. 2750170 - sealed - Phoenix Contact IBS RL 24 BK RB-LK-LK Id.-No. 2725024 - used - Phoenix Contact IBS RL 24 BK RB-LK-LK Id.-No. 2725024 Phoenix Contact IBS RL 24 DO 16/8-R-LK ID-No. 2734170 - unsealed - Phoenix Contact IBS RL 24 DO 16/8-R-LK ID-No. 2734170 - sealed - Phoenix Contact IBS RL 24 DIO 8/8/8-LK ID-No. 2724847 - sealed - Phoenix Contact IBS RL 24 DI 16/8-LK ID-No. 2724850