实例介绍
【实例简介】VB6.0实现步进电机S曲线控制数组生成器【VB6源代码工程文件】，具体的使用方法、硬件电路、单片机程序可以到我的博客里面查看。
【实例截图】VB源码-步进电机S曲线生成器.rar
【核心代码】
VERSION 5.00
Begin VB.Form Form1
Caption = "步进电机速度S型曲线生成器（微信ID：saskingku）"
ClientHeight = 8550
ClientLeft = 120
ClientTop = 450
ClientWidth = 14115
LinkTopic = "Form1"
ScaleHeight = 150.813
ScaleMode = 6 'Millimeter
ScaleWidth = 248.973
StartUpPosition = 3 '窗口缺省
Begin VB.PictureBox Picture1
Height = 3495
Left = 6360
ScaleHeight = 60.59
ScaleMode = 6 'Millimeter
ScaleWidth = 131.498
TabIndex = 27
Top = 4920
Width = 7515
End
Begin VB.Frame Frame2
Caption = "硬件参数"
BeginProperty Font
Name = "宋体"
Size = 15
Charset = 134
Weight = 700
Underline = 0 'False
Italic = 0 'False
Strikethrough = 0 'False
EndProperty
Height = 4695
Left = 10380
TabIndex = 15
Top = 120
Width = 3495
Begin VB.TextBox Text2
BeginProperty Font
Name = "宋体"
Size = 12
Charset = 134
Weight = 400
Underline = 0 'False
Italic = 0 'False
Strikethrough = 0 'False
EndProperty
Height = 435
Left = 1860
TabIndex = 20
Text = "1.8"
Top = 420
Width = 1395
End
Begin VB.TextBox Text3
BeginProperty Font
Name = "宋体"
Size = 12
Charset = 134
Weight = 400
Underline = 0 'False
Italic = 0 'False
Strikethrough = 0 'False
EndProperty
Height = 435
Left = 1860
TabIndex = 19
Text = "11059200"
Top = 975
Width = 1395
End
Begin VB.TextBox Text4
BeginProperty Font
Name = "宋体"
Size = 12
Charset = 134
Weight = 400
Underline = 0 'False
Italic = 0 'False
Strikethrough = 0 'False
EndProperty
Height = 435
Left = 1860
TabIndex = 18
Text = "1"
Top = 2070
Width = 1395
End
Begin VB.TextBox Text8
BeginProperty Font
Name = "宋体"
Size = 12
Charset = 134
Weight = 400
Underline = 0 'False
Italic = 0 'False
Strikethrough = 0 'False
EndProperty
Height = 435
Left = 1860
TabIndex = 17
Text = "4"
Top = 1500
Width = 1395
End
Begin VB.TextBox Text11
Enabled = 0 'False
BeginProperty Font
Name = "宋体"
Size = 12
Charset = 134
Weight = 400
Underline = 0 'False
Italic = 0 'False
Strikethrough = 0 'False
EndProperty
Height = 435
Left = 180
TabIndex = 16
Top = 3600
Width = 3135
End
Begin VB.Label Label13
Caption = "ATMEGA16 time1定时器"
Enabled = 0 'False
Height = 195
Left = 240
TabIndex = 26
Top = 4260
Width = 3195
End
Begin VB.Label Label1
Caption = "步距角"
BeginProperty Font
Name = "宋体"
Size = 12
Charset = 134
Weight = 400
Underline = 0 'False
Italic = 0 'False
Strikethrough = 0 'False
EndProperty
Height = 315
Left = 240
TabIndex = 25
Top = 420
Width = 1455
End
Begin VB.Label Label2
Caption = "硬件频率"
BeginProperty Font
Name = "宋体"
Size = 12
Charset = 134
Weight = 400
Underline = 0 'False
Italic = 0 'False
Strikethrough = 0 'False
EndProperty
Height = 315
Left = 240
TabIndex = 24
Top = 975
Width = 1455
End
Begin VB.Label Label3
Caption = "定时器分频"
BeginProperty Font
Name = "宋体"
Size = 12
Charset = 134
Weight = 400
Underline = 0 'False
Italic = 0 'False
Strikethrough = 0 'False
EndProperty
Height = 315
Left = 240
TabIndex = 23
Top = 2145
Width = 1455
End
Begin VB.Label Label7
Caption = "驱动器细分"
BeginProperty Font
Name = "宋体"
Size = 12
Charset = 134
Weight = 400
Underline = 0 'False
Italic = 0 'False
Strikethrough = 0 'False
EndProperty
Height = 315
Left = 240
TabIndex = 22
Top = 1560
Width = 1455
End
Begin VB.Label Label10
Caption = "最小启动转速（转/秒）"
Enabled = 0 'False
BeginProperty Font
Name = "宋体"
Size = 12
Charset = 134
Weight = 400
Underline = 0 'False
Italic = 0 'False
Strikethrough = 0 'False
EndProperty
Height = 315
Left = 180
TabIndex = 21
Top = 3180
Width = 3075
End
End
Begin VB.Frame Frame1
Caption = "速度曲线参数"
BeginProperty Font
Name = "宋体"
Size = 15
Charset = 134
Weight = 700
Underline = 0 'False
Italic = 0 'False
Strikethrough = 0 'False
EndProperty
Height = 3675
Left = 6360
TabIndex = 2
Top = 120
Width = 3855
Begin VB.TextBox Text10
Enabled = 0 'False
BeginProperty Font
Name = "宋体"
Size = 12
Charset = 134
Weight = 400
Underline = 0 'False
Italic = 0 'False
Strikethrough = 0 'False
EndProperty
Height = 435
Left = 2220
TabIndex = 12
Top = 2520
Width = 1395
End
Begin VB.TextBox Text12
Enabled = 0 'False
BeginProperty Font
Name = "宋体"
Size = 12
Charset = 134
Weight = 400
Underline = 0 'False
Italic = 0 'False
Strikethrough = 0 'False
EndProperty
Height = 435
Left = 2220
TabIndex = 11
Top = 3060
Width = 1395
End
Begin VB.TextBox Text5
BeginProperty Font
Name = "宋体"
Size = 12
Charset = 134
Weight = 400
Underline = 0 'False
Italic = 0 'False
Strikethrough = 0 'False
EndProperty
Height = 435
Left = 2220
TabIndex = 6
Text = "1"
Top = 1425
Width = 1395
End
Begin VB.TextBox Text6
BeginProperty Font
Name = "宋体"
Size = 12
Charset = 134
Weight = 400
Underline = 0 'False
Italic = 0 'False
Strikethrough = 0 'False
EndProperty
Height = 435
Left = 2220
TabIndex = 5
Text = "5"
Top = 1965
Width = 1395
End
Begin VB.TextBox Text7
BeginProperty Font
Name = "宋体"
Size = 12
Charset = 134
Weight = 400
Underline = 0 'False
Italic = 0 'False
Strikethrough = 0 'False
EndProperty
Height = 375
Left = 2220
TabIndex = 4
Text = "18"
Top = 360
Width = 1395
End
Begin VB.TextBox Text9
BeginProperty Font
Name = "宋体"
Size = 12
Charset = 134
Weight = 400
Underline = 0 'False
Italic = 0 'False
Strikethrough = 0 'False
EndProperty
Height = 435
Left = 2220
TabIndex = 3
Text = "5"
Top = 870
Width = 1395
End
Begin VB.Label Label9
Caption = "步进电机步数"
Enabled = 0 'False
BeginProperty Font
Name = "宋体"
Size = 12
Charset = 134
Weight = 400
Underline = 0 'False
Italic = 0 'False
Strikethrough = 0 'False
EndProperty
Height = 315
Left = 180
TabIndex = 14
Top = 2580
Width = 1455
End
Begin VB.Label Label11
Caption = "总时间（ms）"
Enabled = 0 'False
BeginProperty Font
Name = "宋体"
Size = 12
Charset = 134
Weight = 400
Underline = 0 'False
Italic = 0 'False
Strikethrough = 0 'False
EndProperty
Height = 375
Left = 180
TabIndex = 13
Top = 3120
Width = 1455
End
Begin VB.Label Label4
Caption = "启动转速（转/秒）"
BeginProperty Font
Name = "宋体"
Size = 12
Charset = 134
Weight = 400
Underline = 0 'False
Italic = 0 'False
Strikethrough = 0 'False
EndProperty
Height = 315
Left = 180
TabIndex = 10
Top = 1440
Width = 2175
End
Begin VB.Label Label5
Caption = "最大转速（转/秒）"
BeginProperty Font
Name = "宋体"
Size = 12
Charset = 134
Weight = 400
Underline = 0 'False
Italic = 0 'False
Strikethrough = 0 'False
EndProperty
Height = 315
Left = 180
TabIndex = 9
Top = 1995
Width = 2115
End
Begin VB.Label Label6
Caption = "角度（度）"
BeginProperty Font
Name = "宋体"
Size = 12
Charset = 134
Weight = 400
Underline = 0 'False
Italic = 0 'False
Strikethrough = 0 'False
EndProperty
Height = 315
Left = 180
TabIndex = 8
Top = 405
Width = 1455
End
Begin VB.Label Label8
Caption = "加速快慢"
BeginProperty Font
Name = "宋体"
Size = 12
Charset = 134
Weight = 400
Underline = 0 'False
Italic = 0 'False
Strikethrough = 0 'False
EndProperty
Height = 315
Left = 180
TabIndex = 7
Top = 915
Width = 1455
End
End
Begin VB.CommandButton Command1
Caption = "曲线计算"
BeginProperty Font
Name = "宋体"
Size = 21.75
Charset = 134
Weight = 700
Underline = 0 'False
Italic = 0 'False
Strikethrough = 0 'False
EndProperty
Height = 855
Left = 6360
TabIndex = 1
Top = 3900
Width = 3855
End
Begin VB.TextBox Text1
Height = 8295
Left = 120
MultiLine = -1 'True
ScrollBars = 2 'Vertical
TabIndex = 0
Top = 120
Width = 6135
End
End
Attribute VB_Name = "Form1"
Attribute VB_GlobalNameSpace = False
Attribute VB_Creatable = False
Attribute VB_PredeclaredId = True
Attribute VB_Exposed = False
Option Explicit
Dim 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 Then
Max = b
ElseIf a >= b Then
Max = a
End If
End Function
Public 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 Double
Picture1.ScaleMode = 6 '设置图片框单位
Kuandanwei = Picture1.Width / 400
Picture1.ScaleTop = -Picture1.Height / 2 '定义坐标原点x
Picture1.ScaleLeft = -Picture1.Width / 2 '-10 * Kuandanwei '定义坐标原点y
Picture1.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 * Kuandanwei
Picture1.CurrentY = 0
Picture1.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 = 0
Picture1.CurrentY = -0.5 * Picture1.Height
Picture1.Print "S"
'绘制坐标点
Picture1.PSet (n * Kuandanwei, -ax * m / 3), vbRed
Picture1.PSet (n * Kuandanwei, -ay * m / 3), vbBlue
n = n 1
If n >= 360 Then
n = n - 360
Picture1.Cls
End If
End Function
Public 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.Cls
Picture1.DrawWidth = 1
Dim Bili As Double '绘图比例
Bili = 0.7
Dim 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y
Picture1.ScaleLeft = -5 * Kuandanwei '定义坐标原点x
Picture1.CurrentX = 0
Picture1.CurrentY = 0
Picture1.Print "0"
'X轴
Dim x1 As Double
Dim y1 As Double
Dim x2 As Double
Dim y2 As Double
Dim x3 As Double
Dim y3 As Double
x1 = Bili * (JSBuShu * Kuandanwei)
y1 = Bili * 0
x2 = Bili * (x1 - 3) ' 5 * Kuandanwei)
y2 = Bili * (y1 3) '5 * Kuandanwei)
x3 = x2
y3 = -y2
Picture1.Line (0, 0)-(x1, y1)
Picture1.Line (x1, y1)-(x2, y2)
Picture1.Line (x1, y1)-(x3, y3)
Picture1.CurrentX = x1
Picture1.CurrentY = y1
Picture1.Print Int(JSshijian * 1000) & "ms"
'Y轴
Dim x4 As Double
Dim y4 As Double
Dim x5 As Double
Dim y5 As Double
Dim x6 As Double
Dim y6 As Double
x4 = Bili * 0
y4 = Bili * (-Max(v0, vt) * Gaodanwei)
x5 = Bili * (x4 - 3) '-5* Kuandanwei)
y5 = Bili * (y4 - 3) '-5* Kuandanwei)
x6 = -x5
y6 = y5
Picture1.Line (0, 0)-(x4, y4)
Picture1.Line (x4, y4)-(x5, y5)
Picture1.Line (x4, y4)-(x6, y6)
Picture1.CurrentX = x4 Kuandanwei
Picture1.CurrentY = y4
Picture1.Print Max(v0, vt) & "r/s"
'绘制坐标点
Picture1.DrawWidth = 5
Dim i As Integer
For i = 1 To JSBuShu
Picture1.PSet (Bili * i * Kuandanwei, Bili * -Gaodanwei * (v0 (vt - v0) / (1 Exp(-JSKuaiMan * (i - JSBuShu / 2) / (JSBuShu / 2))))), vbRed
Next
End Function
Private Sub Command1_Click()
BuJuJiao = Text2.Text
F0 = Text3.Text
Nf = Text4.Text
v0 = Text5.Text
vt = Text6.Text
JSJiaoDu = Text7.Text
XiFen = Text8.Text
JSKuaiMan = Text9.Text
If Text4.Text = 1 Then
DingShiQiFenPing = 1
ElseIf Text4.Text = 8 Then
DingShiQiFenPing = 2
ElseIf Text4.Text = 64 Then
DingShiQiFenPing = 3
ElseIf Text4.Text = 256 Then
DingShiQiFenPing = 4
ElseIf Text4.Text = 1024 Then
DingShiQiFenPing = 5
End If
JSBuShu = 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 JSBuShu
Fcurrent = 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 Then
Text1 = Text1 & "0X" & Hex(DSChuZhi) & ","
Else
Text1 = Text1 & "0X" & Hex(DSChuZhi)
End If
JSshijian = JSshijian 1 / Fcurrent
Next
a0 = 65535 - 1 / ((Fmin (Fmax - Fmin) / (1 Exp(-JSKuaiMan * (1 - JSBuShu / 2) / (JSBuShu / 2)))) * 2) * F0 / Nf
Text10 = JSBuShu
Text12 = JSshijian * 1000
Text1 = "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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