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Trabajando en la simulacion del Motor con el PLC

This commit is contained in:
Miguel 2024-05-14 12:04:22 +02:00
parent 56a2e994a2
commit 9c8eb0b348
5 changed files with 204 additions and 102 deletions
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5
MainViewModel.cs
View File

@ -130,11 +130,13 @@ namespace CtrEditor
simulationManager.Debug_DrawInitialBodies();
_timerSimulacion.Start();
simulationManager.stopwatch.Start();
}
private void StopSimulation()
{
_timerSimulacion.Stop();
simulationManager.stopwatch.Stop();
}
private void OnTickSimulacion(object sender, EventArgs e)
@ -147,7 +149,7 @@ namespace CtrEditor
objetoSimulable.UpdateGeometryStep();
}
simulationManager.Step((float)_timerSimulacion.Interval.TotalMilliseconds);
simulationManager.Step();
foreach (var objetoSimulable in ObjetosSimulables)
objetoSimulable.UpdateControl();
@ -285,6 +287,7 @@ namespace CtrEditor
try
{
ObjetosSimulables.Clear();
simulationManager.Clear();
if (_selectedImage != null)
{
string jsonPath = datosDeTrabajo.ObtenerPathImagenConExtension(_selectedImage, ".json");

49
MainWindow.xaml.cs
View File

@ -19,6 +19,7 @@ using Label = System.Windows.Controls.Label;
using MouseEventArgs = System.Windows.Input.MouseEventArgs;
using TextBox = System.Windows.Controls.TextBox;
using UserControl = System.Windows.Controls.UserControl;
using CheckBox = System.Windows.Controls.CheckBox;
//using OpenCvSharp;
@ -416,41 +417,55 @@ namespace CtrEditor
foreach (var property in properties)
{
if (property.PropertyType == typeof(float) || property.PropertyType == typeof(string))
{
var horizontalPanel = new StackPanel { Orientation = Orientation.Horizontal };
var label = new Label { Content = property.Name };
if (property.PropertyType == typeof(float) || property.PropertyType == typeof(string) || property.PropertyType == typeof(int))
{
var textBox = new TextBox { Width = 200, Margin = new Thickness(0) };
var binding = new Binding(property.Name)
{
Source = selectedObject,
Mode = BindingMode.TwoWay,
UpdateSourceTrigger = UpdateSourceTrigger.LostFocus, // Actualizar solo al perder el foco
//Converter = (FloatToFormattedStringConverter)Resources["floatFormatter"] // Usar el convertidor
UpdateSourceTrigger = UpdateSourceTrigger.LostFocus
};
// Aplicar el convertidor solo a propiedades float
if (property.PropertyType == typeof(float))
{
textBox.SetBinding(TextBox.TextProperty, binding);
}
else
{
textBox.SetBinding(TextBox.TextProperty, new Binding(property.Name)
{
Source = selectedObject,
Mode = BindingMode.TwoWay,
UpdateSourceTrigger = UpdateSourceTrigger.LostFocus
});
binding.Converter = (FloatToFormattedStringConverter)Resources["floatFormatter"];
}
PanelEdicion.Children.Add(label);
PanelEdicion.Children.Add(textBox);
}
textBox.SetBinding(TextBox.TextProperty, binding);
horizontalPanel.Children.Add(label);
horizontalPanel.Children.Add(textBox);
}
else if (property.PropertyType == typeof(bool))
{
var checkBox = new CheckBox { Margin = new Thickness(5, 0, 0, 0) };
var binding = new Binding(property.Name)
{
Source = selectedObject,
Mode = BindingMode.TwoWay
};
checkBox.SetBinding(CheckBox.IsCheckedProperty, binding);
horizontalPanel.Children.Add(label);
horizontalPanel.Children.Add(checkBox);
}
PanelEdicion.Children.Add(horizontalPanel);
}
}
private void MainWindow_Closed(object sender, EventArgs e)
{
if (DataContext is MainViewModel viewModel)

100
ObjetosSim/ucVMmotorSim.xaml.cs
View File

@ -21,6 +21,22 @@ namespace CtrEditor.ObjetosSim
/// <summary>
/// Interaction logic for ucVMmotorSim.xaml
/// </summary>
///
public class VMSimMotor
{
public bool _STATUS_VFD_Ready;
public float STATUS_VFD_ACT_Speed_Hz;
public bool Motor_Running;
public bool STATUS_VFD_Trip;
public bool STATUS_VFD_Warning;
public bool STATUS_VFD_Coasting;
public bool OUT_Run;
public bool OUT_Stop;
public bool OUT_Reversal;
public float OUT_OUT_VFD_REQ_Speed_Hz;
}
public class osVMmotorSim : osBase
{
@ -31,7 +47,12 @@ namespace CtrEditor.ObjetosSim
private float _tamano;
private float _left;
private float _top;
private float _numeroMotor;
private int _numeroMotor;
private float _ratio;
private float _velocidad;
private bool _encendido;
public VMSimMotor motState = new VMSimMotor();
public float Tamano
{
@ -43,7 +64,17 @@ namespace CtrEditor.ObjetosSim
}
}
public float PLC_NumeroMotor
public bool Encendido
{
get => _encendido;
set
{
_encendido = value;
OnPropertyChanged(nameof(Encendido));
}
}
public int PLC_NumeroMotor
{
get => _numeroMotor;
set
@ -88,6 +119,22 @@ namespace CtrEditor.ObjetosSim
}
}
public float Ratio {
get => _ratio;
set {
_ratio = value;
OnPropertyChanged(nameof(Ratio));
}
}
public float Velocidad {
get => _velocidad;
set {
_velocidad = value;
OnPropertyChanged(nameof(Velocidad));
}
}
public osVMmotorSim()
{
Tamano = 0.30f;
@ -102,7 +149,49 @@ namespace CtrEditor.ObjetosSim
public override void UpdateGeometryStep()
{
}
public override void UpdatePLC(PLCModel plc) { }
public override void UpdatePLC(PLCModel plc) {
var index = 0;
switch (PLC_NumeroMotor)
{
case < 100:
index = (int)PLC_NumeroMotor-30+300;
break;
}
motState.OUT_Run = plc.LeerTagBool($"\"DB MotorSimulate\".Motors[{index}].OUT.Run");
motState.OUT_Reversal = plc.LeerTagBool($"\"DB MotorSimulate\".Motors[{index}].OUT.\"Reversal Direction\"");
motState.OUT_OUT_VFD_REQ_Speed_Hz = (float)plc.LeerTagInt16($"\"DB MotorSimulate\".Motors[{index}].OUT.OUT_VFD_REQ_Speed_Hz");
if (Encendido)
{
motState._STATUS_VFD_Ready = true;
motState.Motor_Running = true;
motState.STATUS_VFD_Trip = false;
motState.STATUS_VFD_Warning = false;
motState.STATUS_VFD_Coasting = false;
if (motState.STATUS_VFD_ACT_Speed_Hz < motState.OUT_OUT_VFD_REQ_Speed_Hz)
motState.STATUS_VFD_ACT_Speed_Hz += motState.OUT_OUT_VFD_REQ_Speed_Hz / 375 ; // Simulate Ramp
} else
{
motState._STATUS_VFD_Ready = false;
motState.Motor_Running = false;
motState.STATUS_VFD_Trip = true;
motState.STATUS_VFD_Warning = false;
motState.STATUS_VFD_Coasting = false;
if (motState.STATUS_VFD_ACT_Speed_Hz > 0)
motState.STATUS_VFD_ACT_Speed_Hz -= 1; // Simulate Ramp
}
plc.EscribirTagBool($"\"DB MotorSimulate\".Motors[{index}].STATUS_VFD_Ready", motState._STATUS_VFD_Ready);
plc.EscribirTagBool($"\"DB MotorSimulate\".Motors[{index}].Motor_Running", motState.Motor_Running);
plc.EscribirTagBool($"\"DB MotorSimulate\".Motors[{index}].STATUS_VFD_Trip", motState.STATUS_VFD_Trip);
plc.EscribirTagBool($"\"DB MotorSimulate\".Motors[{index}].STATUS_VFD_Warning", motState.STATUS_VFD_Warning);
plc.EscribirTagBool($"\"DB MotorSimulate\".Motors[{index}].STATUS_VFD_Coasting", motState.STATUS_VFD_Coasting);
plc.EscribirTagInt16($"\"DB MotorSimulate\".Motors[{index}].STATUS_VFD_ACT_Speed_Hz",(int)motState.STATUS_VFD_ACT_Speed_Hz);
Velocidad = motState.STATUS_VFD_ACT_Speed_Hz/10;
}
public override void UpdateControl()
{
@ -123,6 +212,11 @@ namespace CtrEditor.ObjetosSim
public ucVMmotorSim()
{
InitializeComponent();
this.Loaded += OnLoaded;
}
private void OnLoaded(object sender, RoutedEventArgs e)
{
Datos?.ucLoaded();
}
public void Resize(float width, float height) { }
public void Move(float LeftPixels, float TopPixels)

16
Siemens/PLCControl.xaml.cs
View File

@ -135,7 +135,7 @@ namespace CtrEditor.Siemens
if (PLCInterface.Instance != null)
{
CpuTime = PLCInterface.LeerInt16("\"DB HMI\".CPU_Scan_Time")?.ToString() ?? "N/A";
CpuTime = PLCInterface.LeerTagInt16("\"DB HMI\".CPU_Scan_Time")?.ToString() ?? "N/A";
LastError = PLCInterface.LastError;
}
}
@ -202,6 +202,18 @@ namespace CtrEditor.Siemens
LastError = pTag + ":" + ex.Message;
}
}
public void EscribirTagInt16(string pTag, int pValue)
{
try
{
Instance?.WriteInt16(pTag,(short) pValue);
}
catch (Exception ex)
{
LastError = pTag + ":" + ex.Message;
}
}
public bool LeerTagBool(string pTag)
{
try
@ -215,7 +227,7 @@ namespace CtrEditor.Siemens
}
}
public int? LeerInt16(string pTag)
public int? LeerTagInt16(string pTag)
{
try
{

116
Simulacion/FPhysics.cs
View File

@ -1,31 +1,20 @@
using System;
using System.Collections.Generic;
using System.DirectoryServices;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows;
using System.Windows.Controls;
using System.Windows.Documents;
using System.Windows.Forms;
using System.Windows.Media;
using System.Windows.Shapes;
using CtrEditor.Convertidores;
using CtrEditor.ObjetosSim;
using FarseerPhysics.Collision.Shapes;
using FarseerPhysics.Common;
using FarseerPhysics.Dynamics;
using FarseerPhysics.Dynamics.Contacts;
using FarseerPhysics.Factories;
using FarseerPhysics.Collision.Shapes;
using Microsoft.Xna.Framework;
using OpenCvSharp;
using Siemens.Simatic.Simulation.Runtime;
using static System.Windows.Forms.DataFormats;
using Point = System.Windows.Point;
using CtrEditor.Convertidores;
using FarseerPhysics.Common;
using System.Windows;
using System.Diagnostics;
namespace CtrEditor.Simulacion
{
public class simRectangle
{
public Body Body { get; private set; }
@ -56,17 +45,16 @@ namespace CtrEditor.Simulacion
public void SetDimensions(float width, float height)
{
// Primero, elimina el fixture antiguo
Body.DestroyFixture(Body.FixtureList[0]);
// Crea un nuevo fixture con las nuevas dimensiones
var newShape = new PolygonShape(PolygonTools.CreateRectangle(width / 2, height / 2), 1f);
Body.CreateFixture(newShape);
}
public void Create(float width, float height, Vector2 position, float angle = 0)
{
if (Body != null) {
if (Body != null)
{
_world.RemoveBody(Body);
}
Body = BodyFactory.CreateRectangle(_world, width, height, 1f, position);
@ -75,12 +63,8 @@ namespace CtrEditor.Simulacion
Body.Rotation = MathHelper.ToRadians(angle);
Body.UserData = this; // Importante para la identificación durante la colisión
}
// Otros métodos según sea necesario, como mover, rotar, etc.
}
public class simLine
{
public Body Body { get; private set; }
@ -109,8 +93,6 @@ namespace CtrEditor.Simulacion
}
}
public class simCircle
{
public Body Body { get; private set; }
@ -145,7 +127,8 @@ namespace CtrEditor.Simulacion
public float Mass
{
get {
get
{
if (_mass <= 0)
_mass = 1;
return _mass;
@ -159,12 +142,12 @@ namespace CtrEditor.Simulacion
{
_world.RemoveBody(Body); // Remover el cuerpo anterior si existe
}
Body = BodyFactory.CreateCircle(_world, _radius, 10f, position);
Body = BodyFactory.CreateCircle(_world, _radius, 1f, position);
Body.BodyType = BodyType.Dynamic;
// Restablecer manejador de eventos de colisión
Body.OnCollision += HandleCollision;
Body.OnSeparation += HandleOnSeparation;
//Body.OnSeparation += HandleOnSeparation;
Body.UserData = this; // Importante para la identificación durante la colisión
@ -172,20 +155,14 @@ namespace CtrEditor.Simulacion
Body.Friction = 0.5f; // Ajustar según sea necesario para tu simulación
// Configurar amortiguamiento
Body.LinearDamping = 0.01f; // Ajustar para controlar la reducción de la velocidad lineal
Body.AngularDamping = 1f; // Ajustar para controlar la reducción de la velocidad angular
Body.LinearDamping = 0f; // Ajustar para controlar la reducción de la velocidad lineal
Body.AngularDamping = 0f; // Ajustar para controlar la reducción de la velocidad angular
Body.Restitution = 0.2f; // Baja restitución para menos rebote
Body.IsBullet = true;
}
private void HandleOnSeparation(Fixture fixtureA, Fixture fixtureB)
{
Body.LinearDamping = 5f; // Ajustar para controlar la reducción de la velocidad lineal
}
public void SetPosition(float x, float y)
{
// Usar el ángulo actual, ya que no es relevante para un círculo en este contexto
Body.SetTransform(new Vector2(x, y), Body.Rotation);
}
@ -200,38 +177,30 @@ namespace CtrEditor.Simulacion
Mass = mass;
}
private bool HandleCollision(Fixture fixtureA, Fixture fixtureB, FarseerPhysics.Dynamics.Contacts.Contact contact)
{
if (fixtureB.Body.UserData is simRectangle)
{
simRectangle conveyor = fixtureB.Body.UserData as simRectangle;
ApplyConveyorEffect(conveyor, fixtureA, contact);
return true; // No aplicar respuestas fisicas
ApplyConveyorEffect(conveyor, fixtureA);
return true; // No aplicar respuestas físicas
}
return true; // No aplicar respuestas fisicas
return true; // No aplicar respuestas físicas
}
private void ApplyConveyorEffect(simRectangle conveyor, Fixture circleFixture, FarseerPhysics.Dynamics.Contacts.Contact contact)
private void HandleOnSeparation(Fixture fixtureA, Fixture fixtureB)
{
// Aquí puedes restablecer cualquier estado si es necesario al separarse de un simRectangle
}
private void ApplyConveyorEffect(simRectangle conveyor, Fixture circleFixture)
{
// Calcular la velocidad deseada en metros por segundo
float speedMetersPerSecond = conveyor.Speed / 60.0f;
Vector2 desiredVelocity = new Vector2((float)Math.Cos(conveyor.Body.Rotation), (float)Math.Sin(conveyor.Body.Rotation)) * speedMetersPerSecond;
// Calcular la fuerza necesaria para alcanzar esa velocidad
Vector2 velocityChange = desiredVelocity - circleFixture.Body.LinearVelocity;
float timeStep = 1.0f / 60.0f; // Asumiendo 60 Hz de tasa de actualización
Vector2 acceleration = velocityChange / timeStep;
Vector2 force = acceleration / Mass;
// Aplicar la fuerza al círculo
circleFixture.Body.ApplyForce(force);
circleFixture.Body.LinearVelocity = desiredVelocity;
}
}
public class SimulationManagerFP
{
private World world;
@ -239,6 +208,7 @@ namespace CtrEditor.Simulacion
public List<simCircle> circles;
public List<simRectangle> rectangles;
public List<simLine> lines;
public Stopwatch stopwatch;
public Canvas DebugCanvas { get => simulationCanvas; set => simulationCanvas = value; }
@ -248,7 +218,30 @@ namespace CtrEditor.Simulacion
circles = new List<simCircle>();
rectangles = new List<simRectangle>();
lines = new List<simLine>();
stopwatch = new Stopwatch();
}
public void Clear()
{
circles.Clear();
rectangles.Clear();
lines.Clear();
world.Clear();
}
public void Step()
{
// Detener el cronómetro y obtener el tiempo transcurrido en milisegundos
stopwatch.Stop();
float elapsedMilliseconds = (float)stopwatch.Elapsed.TotalMilliseconds;
// Reiniciar el cronómetro para la próxima medición
stopwatch.Restart();
// Pasar el tiempo transcurrido al método Step
world.Step(elapsedMilliseconds / 1000.0f);
}
public simCircle AddCircle(float diameter, Vector2 position, float mass)
{
simCircle circle = new simCircle(world, diameter, position, mass);
@ -256,7 +249,6 @@ namespace CtrEditor.Simulacion
return circle;
}
public simRectangle AddRectangle(float width, float height, Vector2 position, float angle)
{
simRectangle rectangle = new simRectangle(world, width, height, position, angle);
@ -271,14 +263,6 @@ namespace CtrEditor.Simulacion
return line;
}
// Otros métodos para agregar círculos y ejecutar la simulación
public void Step(float timeStep)
{
world.Step(timeStep/1000.0f);
// Actualiza y gestiona otras lógicas si es necesario
}
public void Debug_DrawInitialBodies()
{
ClearSimulationShapes();
@ -369,7 +353,6 @@ namespace CtrEditor.Simulacion
foreach (Vector2 vertex in polyShape.Vertices)
{
// Aplicar la rotación alrededor del origen y luego trasladar
float rotatedX = vertex.X * cos - vertex.Y * sin + fixture.Body.Position.X;
float rotatedY = vertex.X * sin + vertex.Y * cos + fixture.Body.Position.Y;
@ -378,10 +361,5 @@ namespace CtrEditor.Simulacion
return polygon;
}
}
}