文档介绍：on Base 1
Const n As Integer = 3 '输出个数
Const m As Integer = 3 '输入个数
Const d As Integer = 100 ' 系统最大时滞
Dim ts As Single '采样时间
Dim tr(n) As Single '参考轨迹柔化系数
Dim H(n) As Single '估计时域长度
'标志位定义
Dim APC_COM As Integer
Dim APC_ON As Integer
Dim APC_2_ON As Integer
Dim T_APC_STA As Integer
Dim MV_1_STA As Integer
Dim MV_2_STA As Integer
Dim MV_3_STA As Integer
Dim DV_1_STA As Integer
Dim DV_2_STA As Integer
'模型参数
Dim K11, K12, K13, K21, K22, K23, K31, K32, K33 As Single
Dim T11, T12, T13, T21, T22, T23, T31, T32, T33 As Single
Dim TAO11, TAO12, TAO13, TAO21, TAO22, TAO23, TAO31, TAO32, TAO33 As Single
Dim KM11, KM12, KM13, KM21, KM22, KM23, KM31, KM32, KM33 As Single
Dim TM11, TM12, TM13, TM21, TM22, TM23, TM31, TM32, TM33 As Single
Dim TAOM11, TAOM12, TAOM13, TAOM21, TAOM22, TAOM23, TAOM31, TAOM32, TAOM33 As Single
Dim K(n, m) As Single
Dim t(n, m) As Single
Dim tao(n, m) As Single
Dim km(n, m) As Single
Dim tm(n, m) As Single
Dim taom(n, m) As Single
'变量定义
Dim I As Integer
Dim J As Integer
Dim g As Integer
Dim AA(n, m) As Single
Dim AAA() As Single
Dim BB(n, 1) As Single
Dim b(n) As Single
Dim a(n, m) As Single
Dim am(n, m) As Single
Dim L(n, m) As Single
Dim Lm(n, m) As Single
Dim c(n) As Single
Dim piduu1 As Single
Dim piduu2 As Single
Dim piduu3 As Single
Dim ym(n, m) As Single '模型输出
Dim ym1(n, m, d) As Single ' 模型上次输出
Dim y0 As Single
Dim yp0 As Single
Dim yp(n) As Single ' 过程输出
Dim y(n, m) As Single
Dim ypav(n) As Single
Dim ymm0 As Single
Dim ym0(n) As Single
Dim Y1(n, m, 1) As Single
Dim u1(m, d) As Single
Dim uu(m) As Single
'力控数据通讯所需参数
Dim read_datas(22) As Double '读数据数组
Dim readtag As String
Dim read_data As Long
Dim write_datas(6) As Double '写数据数组
Dim writetag As String
Dim write_data As Long
Private Sub Form_Load()
'过程参数
K11 = : T11 = 50: TAO11 = 2
K12 = : T12 = 60: TAO12 = 3
K