private SimulateVelocityData SetVChange_Dec(SimulateVelocityData nowData, AxisData axis, SimulateData data, DateTime time)
{
double nowDec = GetNowAccOrDec(data, (time - nowData.Time).TotalSeconds);
double deltaVelocity = Math.Pow(nowDec, 2) / (2 * axis.Jerk);
double nowVelocity = GetNowVelocity(data, (time - nowData.Time).TotalSeconds);
double isokineticVelocity = nowVelocity - deltaVelocity;
double startVelocity = nowVelocity + deltaVelocity;
double startTime = -nowDec / axis.Jerk;;
SimulateVelocityData returnData = new SimulateVelocityData();
SimulateData temp;
returnData.Command = nowData.Command;
returnData.Time = time;
if (axis.Velocity > isokineticVelocity)
{ // 升速度.
CheckAxisDataOKWithVelocityChange(ref axis, startVelocity, isokineticVelocity);
CheckAxisDataOKWithVelocityChange(ref axis, isokineticVelocity, axis.Velocity);
temp = new SimulateData();
temp.SetSimulateData_DecJerkDown(nowVelocity, axis.Deceleration, axis.Jerk, 0);
returnData.SimulateDataList.Add(temp);
temp = new SimulateData();
temp.SetSimulateData_AccJerkUp(returnData.SimulateDataList[returnData.SimulateDataList.Count - 1].EndVelocity,
axis.Acceleration, axis.Jerk,
returnData.SimulateDataList[returnData.SimulateDataList.Count - 1].EndTime);
returnData.SimulateDataList.Add(temp);
temp = new SimulateData();
temp.SetSimulateData_Accing(returnData.SimulateDataList[returnData.SimulateDataList.Count - 1], axis);
returnData.SimulateDataList.Add(temp);
temp = new SimulateData();
temp.SetSimulateData_AccJerkDown(returnData.SimulateDataList[returnData.SimulateDataList.Count - 1].EndVelocity,
axis.Acceleration, axis.Jerk,
returnData.SimulateDataList[returnData.SimulateDataList.Count - 1].EndTime);
returnData.SimulateDataList.Add(temp);
}
else if (axis.Velocity < isokineticVelocity)
{ // 減速度.
CheckAxisDataOKWithVelocityChange(ref axis, startVelocity, axis.Velocity);
temp = new SimulateData();
temp.SetSimulateData_DecJerkUp(startVelocity, axis.Deceleration, axis.Jerk, startTime);
returnData.SimulateDataList.Add(temp);
temp = new SimulateData();
temp.SetSimulateData_Decing(returnData.SimulateDataList[returnData.SimulateDataList.Count - 1], axis);
returnData.SimulateDataList.Add(temp);
temp = new SimulateData();
temp.SetSimulateData_DecJerkDown(returnData.SimulateDataList[returnData.SimulateDataList.Count - 1].EndVelocity,
axis.Deceleration, axis.Jerk,
returnData.SimulateDataList[returnData.SimulateDataList.Count - 1].EndTime);
returnData.SimulateDataList.Add(temp);
}
else
{ // 等速度.
CheckAxisDataOKWithVelocityChange(ref axis, startVelocity, axis.Velocity);
temp = new SimulateData();
temp.SetSimulateData_DecJerkDown(nowVelocity, axis.Deceleration, axis.Jerk, 0);
returnData.SimulateDataList.Add(temp);
}
temp = new SimulateData();
temp.SetSimulateData_Isokinetic(returnData.SimulateDataList[returnData.SimulateDataList.Count - 1].EndVelocity,
returnData.SimulateDataList[returnData.SimulateDataList.Count - 1].EndTime);
returnData.SimulateDataList.Add(temp);
returnData.Axis = axis;
return(returnData);
}
private SimulateVelocityData SetVChange_Isokinetic(SimulateVelocityData nowData, AxisData axis, SimulateData data, DateTime time)
{
double nowVelocity = GetNowVelocity(data, (time - nowData.Time).TotalSeconds);
double startTime = 0;
SimulateVelocityData returnData = new SimulateVelocityData();
SimulateData temp;
returnData.Command = nowData.Command;
returnData.Time = time;
if (axis.Velocity > nowVelocity)
{ // 升速度.
CheckAxisDataOKWithVelocityChange(ref axis, nowVelocity, axis.Velocity);
temp = new SimulateData();
temp.SetSimulateData_AccJerkUp(nowVelocity, axis.Acceleration, axis.Jerk, startTime);
returnData.SimulateDataList.Add(temp);
temp = new SimulateData();
temp.SetSimulateData_Accing(returnData.SimulateDataList[returnData.SimulateDataList.Count - 1], axis);
returnData.SimulateDataList.Add(temp);
temp = new SimulateData();
temp.SetSimulateData_AccJerkDown(returnData.SimulateDataList[returnData.SimulateDataList.Count - 1].EndVelocity,
axis.Acceleration, axis.Jerk,
returnData.SimulateDataList[returnData.SimulateDataList.Count - 1].EndTime);
returnData.SimulateDataList.Add(temp);
}
else if (axis.Velocity < nowVelocity)
{ // 減速度.
CheckAxisDataOKWithVelocityChange(ref axis, nowVelocity, axis.Velocity);
temp = new SimulateData();
temp.SetSimulateData_DecJerkUp(nowVelocity, axis.Deceleration, axis.Jerk, startTime);
returnData.SimulateDataList.Add(temp);
temp = new SimulateData();
temp.SetSimulateData_Decing(returnData.SimulateDataList[returnData.SimulateDataList.Count - 1], axis);
returnData.SimulateDataList.Add(temp);
temp = new SimulateData();
temp.SetSimulateData_DecJerkDown(returnData.SimulateDataList[returnData.SimulateDataList.Count - 1].EndVelocity,
axis.Deceleration, axis.Jerk,
returnData.SimulateDataList[returnData.SimulateDataList.Count - 1].EndTime);
returnData.SimulateDataList.Add(temp);
}
else
{ // 等速度.
temp = new SimulateData();
temp.SetSimulateData_Isokinetic(axis.Velocity, startTime);
returnData.SimulateDataList.Add(temp);
}
temp = new SimulateData();
temp.SetSimulateData_Isokinetic(returnData.SimulateDataList[returnData.SimulateDataList.Count - 1].EndVelocity,
returnData.SimulateDataList[returnData.SimulateDataList.Count - 1].EndTime);
returnData.SimulateDataList.Add(temp);
returnData.Axis = axis;
return(returnData);
}