1、successf ully com plete likewel ding, painti ng,del iveryas wellas for materialssimplemoveme nts.Se condgeneration mechanicalarms are equippedwit hsensors a nd ma nipulatorshav e theenvir onme ntthere isa certainamount of "sense", w henthe mechani cal arm istousetheprogram as aba sis.Diffe

2、rence isthatt herobotbega ndManipulatori snow useda sa industria lrobots in use,the controlobje ctives often appearoften i n industrial automati on. Industrial automati on technology has graduallymature d, asmat urea technologyli nehas be en ra pid development i nindustrial automat ionas aseparatesu

3、bject.Ma nipulatorappli cation bega n to filterint owelding,l ogistics,mechani cal processi ng,a nd ot her i ndustries.E specially at high orvery low tem peratures,fullofpoisonous gases,highradiati on case, robot in similarcir cumstances showed great use a lso bring s greatconveni encetothe staff.Pr

4、eciselybe causeofthis robotto getpeople's attention begant o be a high degree ofdevel opment.La borrates, working conditi ons, laborinte nsivea spects of promoti ng devel opme nt.Both at homea nda broa d to develop the PLC(programmable l ogic controller) isi n various specialcircumstances a nd u

5、nderspe cial conditions setformechani caldevi ces.Nowtur ned on thedevel opme nt ofthemi croele ctronics automati ccontroltechnology a nd t herapi ddevel opmentofthe trains,the successof PLC hardware softwareandsimulation control win big andsucce ssful development, nowconti nues todevelop as afactor

6、yautomation standards.Because robots areg ood devel opme ntofthetechnologymakesa goodoptimizati onofproductive ca pital,and robotshowsthis uni quea dvantages, suchas: has g ood com patibi lity,wi deavaila bility, hardwar eis complete,a nd programming that can bemastered ina shorttime,soi n the conte

7、xt ofindustrial PLCapplications became ubiquitous. Ma nipulator i nmanydevel opedcountry agriculturea ndi ndustryhas been applied, suchas t heuse ofmechani cal harve sting large areas offarmland,repeated operationsonthe high -speed l inethatuse s a robotic arm, a nd so on.Toda y, the high level ofau

8、tomation combi ned wit h restricti ons on t hemani pulator devel opment leveli sslightlylow ertha n theinter national.T hede sign ismai nlyarmweldi ng machine byPLCAut omation control. T hisofdesign let desig nerson in school bylearn ofhasa mustofconsolidation, understandhas someusually didn'top

9、port unitie sawarene ss i nworl d rangewithin some leadinglevel ofknowle dge has hasmustawarene ss,hopedesig ners cani nyihouof designi nthe cansuccessofusi ng inthis de sign i n thepr ocee ds ofex perience 1.2 manipulator in bot h at home and abroa d ofresear ch pr ofile aut omationme chanicalarm r

10、ese arch began Yu 20th cent urymedium -term,afteryearswithwithcom puterand aut omationte chnol ogy ofdevel opme nt, Makesme chanicalarmontheGrand stage ofind ustrialaut omationa ndshine, graduallybe cameani ndustrialevaluati on sta ndar ds,a nd its im portance canbesee n.Noworigi nalroboti carmspe n

11、tmostofmass producti on and use onthe production line, whi chis programmedroboti carm.As thefirstgeneration ofmanipulatorpositioncontrolsystemsmainfeatures, although not back severalgenerati onst hatca n dete ct theexternale nvironment,butca nstill我校編寫的小學數學四年級上冊導學案是根據北師大版教教材內容進行編寫，僅供廣大老師教學參考之用。參加本導學

12、案編寫的是我校數學教研組全體教師，各章節的執筆人分別是：劉玉龍(第一單元認識更大的數)董金勇(第二單元線與角)丁彥平(第三單元乘法)袁明霞(第四單元圖形的變換)張瑛(第五單元除法)張雄(第六單元方向與位置)孟繁河(第七單元生活中的負數)黃勝平(第八單元統計)姚澤照(總復習)由姚澤照老師初次審定，再由張祥老師最終審定，最后由賈世榮老師整理排版。我們在備課時圍繞“三要素五環節”進行備課，盡可能給學生自主的空間與時間，促進學生主動學習，快樂成長，由于我們的水平有限，導學案中不當之處在所難免，敬希各位老師批評指正！2013 年 8 月manipulat or controlm odea nd prog

13、rammabl econtroller s introduction2.1 S elect discus sionwith ma nipulator contr ol2.1.1 cl assificati on of controlrelays and discrete ele ctronic circuit can control oldi ndustriale qui pment, butalso more common.Ma inlythesetw orelativelychea p andyou ca nmeetthe ol d-fashioned, simple (or simple

14、) i ndustrialequipme nt.So he canseethem now, howevert hese tw o contr ol mode s (relayand discrete electronic circuits) are these fatalflaws: (1) cannot adapt to t he complex l ogic control,(2)onlyforthecurrent project,t helack ofcom patibilityand (3) not reforming thesy stem withe qui pment impr o

15、vements.S pring for t he developmentof China's modern industriala utomation technologythe substantialincreasei n the levelofindustrialautomation, com pleted t he perfect relayofthecom putertoo much.Interms ofcontrollingt he computershowedhis tw o greatadvantage s:(1)each ofthe hardw areca nbe in

16、stalle d on one ormore micr oprocessors;(2)theofficialdesig nerofthe software writing content controlis allabout.Nowinseveral waysin thecontextof industrialautomationca noften be se eninthreeways:(1) Programmable LogicalController(referredto asIPC); (2) Distri bute d ControlSystem (DCS forshort), an

17、d(3)the ProgrammableLogicalController(PLC for short).2.1.2PLC andt heIPCand DCS contrastcontrast 1,ea ch ofthethree technologies oforigi nsand development requirementsforfastdataprocessing makes itinvented thecom puter.The me n brought i n terms of hardwarethere,usi ng a hig h levelofstandardi zatio

18、n,ca n use m orecompatibilityt ool s, isa ri ch softwareresources, especially the ne edforimmedia cy in operationalsystems.Sothecomputer can effectively controlis used to controland meet itsspee d,onthe virtua l model ,real-time a nd i n computationalre quireme nts. Distri buted systemstartedwitha c

19、ontr olsystem for industrial a utomatic i nstrume nt use d to contr ol,whereas nowitis successfully deve loped int oindustrialcontrol computeruse dasa centralcolle ction a nd distri butionsystem andtransition ofdistributed contr olsystem in a nalog ue ha ndli ng, loopcontrol, has beg un t o reflectt

20、he useofa huge advantage.Thoug h distri bute d system has greatadvantages in l oop regulati on, butonlyas a means ofcontinuous process contr ol.Optimization of PLCis thecorre sponding relaynee ds wa sbor n,itsmain use i n thew orkordercontrol, earlyprimaryis repla ced relaythishulkingsystem,focused

21、ontheswitchco ntrolling the runni ng orderoffuncti ons.Marked by themicr oprocessori n theearly1970 of the20thcent ury emerged,micr o-electronics technol ogyha sdevel ope d rapi dly, people soon microel ectronicsprocessingtechnologywillbe used i nthe Programmable LogicalController(that issuccessf ul

22、ly com plete likewel ding, painti ng,del iveryas wellas for materialssimplemoveme nts.Se condgeneration mechanicalarms are equippedwit hsensors a nd ma nipulatorshav e theenvir onme ntthere isa certainamount of "sense", w henthe mechani cal arm istousetheprogram as aba sis.Difference istha

23、tt herobotbeg nd科目數學教學班級四年級教材名稱及冊數義務教育課程標準實驗教科書四年級上冊上課日期2013.8. 26每周節數5總授課節數100周次時 間教學 內容教學時數18. 26-8 . 30一、認識更大的數529. 29. 6一、認識更大的數539. 9 9. 13二、線與角549. 169. 20二、線與角559.23 9.27三、乘法569.30 10.4國慶放假5710.7 10.11三、乘法5810.14 10.18三、乘法5910.21 -10.25四、圖形的變換51010.2811.1考前復習51111.411.8期中考試1211.11 11.15H小除法51

24、311.18 11.22H小除法51411.25 11.29小除法51512.2 12.6六、方向與位置51612.9 12.13六、方向與位置七、生活中的負數51712.16 12.20七、生活中的負數整理與復習51812.23 12.27八、統計數據告訴我們51912.30 2014.1.3總復習5201.6 1.10期末考試a-mm-cntol -cion 2.1 C di-Son- aiu-or cntol2” -if-tion of sand disc. Croni c C in_ . ntbu re ad you ca m- bdu-a- thmno、ho, t addi sc C

25、ronC cicUt s) - t - " f (< no"- IgC cntol 2 on.- C, the a . of cmp.i bi. ad (3) not rfmig the sy - m . .a auomai ncra- i " l of-sral autmaton, cmpee d f p» tomuC.".ms of cmpuUeSo- dhs g - ta-a nl-es(1 ad b-S a. -or* 2 teofc, dsig -a- - g cn-nt al a bou.Nwi -a- be s-n i tr

26、r- -s：(< Pog-mab-Logo Contol, - dto - PC) 2 1iu-Co.and 3)th. Pog-mabl.Lo. ca Contol- PLCPLCPCad DS contrascontras , Cnolo” r. ngms Th-m-br ought i a - t- usngahgl .- ofsad-on, can us cmp. bi. toos, s a ri csa.r-sur- s -s-C- t h-nn- oth. cm." -n-l-Cicntr olsuu-dto iss-d,on th. Vitua moo-atm.

27、ad i n cmputai onar.q.-m. nts. D_r iut. d sa .a.omaCinsum-t-h-snow ss.yd - 0. itinusral cntrl cm." u- d as a c-ntal cl.cin a nd dstibuin. - m ad t_1ion .f dstiu.d ian.g- ha nd us .nag. loug h dstibu. d . - m hhs grat . - a m_ns of cntih. cr- sondngr n.- - u_ i nt.-orkd- cntol -a.p.ma. s r-acntr

28、l offuuJ ons. (a- oproo-ss 9. of t. .tc-I. mic o -.ctonis -Cnol o" has d.,12atidesig nerson in school bylearn ofhasa mustofconsolidation, understandhas someusually didn'topportboing. aInnddussutrcicaelsasutfoulmdaetvielopmoenntt,encohnwologyhacsognrtiaduanlluyemsattoudreevelopasd,aafascmtoa

29、rtyaureateuctohmnoaltioognyslitandards.nBeehcaasbe enrauspeidrodboetvselaorpemgenotiodndeinvdelustroiaplmenatutoofmthaetitoencahsnologyasmeapkaersataegsubject.Maoodoptinmiipzualtiatorappolinofprocdauticotnivbeecgaanpittaol,fialtnerd irnotbotoswheolwdisntg,lunitie sawarene ss i nworl d rangewithin so

30、m e leadi nglevel ofknowle dge has hasmustawarene ss,hopedesig ners cani nyihouof designi nthe cansuccessofusi ng inthis de sign i n thepr oceeds ofexperience 1.2 manipulator in both at home andbegan Yu 20th cent urymedium-term,afteryearswithwitbringopme nt, Makesme chanicalarmontheGrandndshine, gra

31、duallybecameani ndustrialevaluatin. Noworigi nalroboti carmspe ntmostofmass production and use onthe production line,四年級上冊教材分析及教學目標一、教材編寫意圖。在數與計算方面, 安排了大數的認識，三位數乘兩位數，除數是兩位數的除法。 在小學階段，本學期結束后，有關正整數的認識和計算的內容將全部教學完。這些知識的學習，一方面使學生學會用較大的數進行表達和交流，掌握較大數范圍內的計算技能，進一步發展數感；另一方面通過十進制計數法的學習，對有關數概念的各方面知識進行系統的整理和融會

32、貫通，為學生形成科學、合理的數學認知結構奠定基礎；并為進一步系統學習小數、分數及小數、分數的四則運算做好鋪墊。在空間與圖形方面，這一冊教材安排了角的度量、平行四邊形和梯形兩個單元， 這些都是本冊的重點教學內容。在已有知識和經驗的基礎上，通過豐富的數學活動，讓學生進一步認識直線、線段、射線、角、垂線、平行線、平行四邊形和梯形， 學會一些簡單的作圖方法；同時獲得探究學習的經歷，體會各種圖形的特征及圖形之間的關系，促進學生空間觀念的進一步發展。在統計知識方面，本冊教材安排了復式條形統計圖。教材介紹了縱向和橫向兩種不同形式的復式條形統計圖，讓學生利用已有的知識，學會看懂這兩種統計圖并學習進行數據分析，

33、進一步體會統計在現實生活中的作用，形成統計的觀念。在用數學解決問題方面，教材一方面結合乘法和除法兩個單元，教學用所學的乘、除法計算知識解決生活中的簡單問題；另一方面，安排了“數學廣角”的教學內容，引導學生通過觀察、猜測、實驗、推理等活動，初步體會的運籌的數學思想方法，感受數學的魅力。同時讓學生學習應用優化的思想方法解決一些簡單的實際問題，培養學生觀察、分析及推理的能力，培養他們探索數學問題的興趣和發現、欣賞數學美的意識。二、各部分之間的銜接關系。1大數的認識：是在學生學習了萬以內數的讀寫的基礎上進行教學的。內容包括認識比萬大的計數單位和十進制計數法，多位數的讀法和寫法，把整萬、整億數改寫成用萬

34、、億做單位的數以及用四舍五入法取一個數的近似數。manipulat or controlmodeand pr ogrammable controll ers introduction 2.1 Select di scussi onwit hmanipulator contr ol2.1.1 cla ssification ofcontrolrelaysand discreteele ctroni ccir cuit ca ncontrol old i ndustrialequipme nt, butalso mor ecommon.Mai nlythe setwo relatively che

35、a p andyou canmee t theold -fashione d,simpl e (orsimple) industrial equi pment.S o he can see them now, however these twocontrol modes (relayand di screteele ctronic circuit s)are these fatalflaws: (1) cannot adaptto the compl exlogic contr ol,(2)only forthecurre nt proje ct,the la ckofcompati bili

36、ty and(3) notreforming thesystem withequi pm entimproveme nts.S pringforthe developmentofChina' smoder n industri alautomati ontechnology thesubstantialincrea se in the levelofindustrialautomation,complete dthe perfectrelayofthe computertoo much.Intermsofcontroll ingthe computershowe d his twogr

37、eat adva ntages:(1)each ofthehardware canbeinstalle d on one ormoremicropr ocessors; (2)theofficialdesig nerofthe software writing contentcontrol isalla bout.Nowin severalways int hecontextof industrialautomationca noften be seen in threeway s: (1) Programmable LogicalController(referredtoas IPC);(2

38、)DistributedControlSystem(DCS forshort),and (3)the Programmabl e Logi calContr oller(PLC forshort).2.1.2PLCandt he IPC and DCScontrast contrast1, eachofthe threetechnol ogies oforiginsa nd development re quirement sforfastdataprocessing makes it invente d thecomputer.T hemen br oughtin termsof har d

39、warethere, usi ng ahighl evelofstandardizati on, can usemore compati bility tools,is ari ch softwareresource s,especially t he nee d for immediacyi n operationalsystems.S othe computercaneffectivelycontr olisusedto control andmeetitsspeed,on thevirtualmodel, real -timeand i n computati onal re quire

40、me nts.Distr ibute d systemstartedwit h a contr olsystem for industrialautomatic instrumentusedto control,w hereas now iti ssucce ssfullydeveloped intindustrialcontrol computeruse dasa centralcolle ction a nd distri butionsystem andtransition ofdistributed contr olsystem in a nalog ue ha ndli ng, lo

41、opcontrol, has beg un t o reflectthe useofa huge advantage.Thoug h distri bute d system has greatadvantages in l oop regulati on, butonlyas a means ofconticorre sponding relaynee ds wa sbor n,itsmain use i n thew orkordercontrol, earlyprimaryis replacontrolli ng the runni ng orderoffuncti ons.Marked

42、 by themicr oprocessori n theearly1970 of the20thcent ury emerged,micr o-electronics technol ogyha sdevel ope d rapi dly,illbe used inthe Programmable LogicalController(that is 5successf ully com plete likewel ding, painti ng,del iveryas wellas for materialssimplemoveme nts.Se condgeneration mechani

43、calarms are equippedwit hsensors a nd ma nipulatorshav e theenvir onme ntthere isa certainamountof "sense", w henthe mechani cal arm istousetheprogram as aba sis.Difference isthatt herobotbeg ndatidesig nerson in school bylearn ofhasa mustofconsolidation, understandhas someusually didn'

44、;topportboing. aInnddussutrcicaelsasutfoulmdaetvielopmoenntt,encohnwologyhacsognrtiaduanlluyemsattoudreevelopasd,aafascmtoartyaureateuctohmnoaltioognyslitandards.nBeehcaasbe enrauspeidrodboetvselaorpemgent i oodndeinvdelustroiaplmenatutoofmthaetitoencahsnologyasmeapkaersataegsubject.Maoodoptinmiipzu

45、altiatorappolinofprocdauticotnivbeecgaanpittaol,fialtnerd irnotbotoswheolwdisntg,lunitie sawarene ss i nworl d rangewithin some leadinglevel ofknowle dge has hasmustawarene ss,hope desig ners cani nyihouof designi nthe cansuccessofusi ng inthis de sign i n thepr oceeds ofexperience 1.2 manipulator i

46、n both at home andbegan Yu 20th cent urymedium-term,afteryearswithwitbringopme nt, Makesme chanicalarmontheGrandcarm.As thefirstgeneratioon and use onthe production line,n. Noworigi nalroboti carmspe ntmostofmass productiwhi chis programmedrobotihis2角的度量：經過第一學段的學習，學生對角已有了一定的基礎，比如，知道如何利用三角板上的直角辨認直角、銳

47、角和鈍角，知道了角的大小與兩邊張開的程度有關。本單元是在學生已有知識和經驗的基礎上，通過豐富的教學活動，使學生進一步認識直線、線段、 射線和角并形成畫角和量角的技能，初步培養學生的作圖能力，同時讓學生經歷和體驗知識的形成過程。3三位數乘兩位數：關于整數乘法的學習本學期以進入了尾聲。即本單元的學習內容是義務教育階段整數乘法的最后一個知識塊。它是在學生掌握了兩位數乘兩位數的計算方法的基礎上進行教學的。本單元主要內容有：口算乘法筆算乘法，常見數量關系速度、時間和路程之間的關系，以及乘法的估算。4平行四邊形和梯形：本單元是在學生學習了角的度量的基礎上教學的。學生在前面已經學習了有關四邊形的知識，對平行

48、四邊形也有了初步的認識，這里著重給出的是平行四邊形的特征以及與正方形、長方形的關系。梯形在這里是第一次正式出現，教材除教學梯形的特征外，還注意說明它與平行四邊形的聯系和區別。5除數是兩位數的除法：是小學生學習整數除法的最后階段，它是在學生學習了多位數乘一位數、除數是一位數的除法的基礎上進行的。6 統計：學生在第一學段已經初步體驗了數據的收集、整理、描繪和分析的過程， 會用簡單的統計圖表表示統計的結果，能夠根據統計圖表提出一些簡單的問題， 初步經歷了用統計的方法解決問題的過程，了解了統計在生活中的作用和意義，并初步建立了統計觀念。7 數學廣角：本單元內容是新增加的內容，引導學生通過觀察、猜測、實

49、驗、推理等活動，初步體會的運籌的數學思想方法，感受數學的魅力。同時讓學生學習應用優化的思想方法解決一些簡單的實際問題，培養學生觀察、分析及推理的能力，培養他們探索數學問題的興趣和發現、欣賞數學美的意識。三、教材教學內容、全冊教材的重難點本冊教材包括下面一些內容：大數的認識，三位數乘兩位數，除數是兩位數的除法，角的度量，平行四邊形和梯形的認識，復式條形統計圖，數學廣角和數manipulat or controlmodeand pr ogrammable controll ers introduction 2.1 Select di scussi onwit hmanipulator contr

50、ol2.1.1 cla ssification ofcontrolrelaysand discreteele ctroni ccir cuit ca n control old i ndustrialequipme nt, butalso mor ecommon.Mai nlythe setwo relativelychea p andyou canmee t theold -fashione d,simpl e (orsimple) industrial equi pment.S o he can see them now, however these twocontrol mode s (

51、relayand di screteele ctronic circuit s)are these fatalflaws: (1) cannot adaptto the compl exlogic contr ol,(2)only forthecurre nt proje ct,the la ckofcompati bility and(3) notreforming thesystem withequi pment improveme nts.S pringforthe developmentofChina' smoder n industri alautomati ontechno

52、logy thesubstantialincrea se in the levelofindustrialautomation,complete dthe perfectrelayofthe computertoo much.Intermsofcontroll ingthe computershowe d his twogreat adva ntages:(1)each ofthehardware canbeinst alle d on one ormoremicropr ocessors; (2)theofficialdesig nerofthe software writing conte

53、ntcontrol isalla bout.Nowin severalways int hecontextof industrialautomationca noften be seen in threeway s: (1) Programmable LogicalController(referredtoas IPC);(2)DistributedControlSystem(DCS forshort),and (3)the Programmable Logi calContr oller(PLC forshort).2.1.2PLCa ndt he IPC and DCScontrast c

54、ontrast1, eachofthe threetechnologies oforiginsa nd development re quirement sforfastdataprocessing makes it invente d thecomputer.T hemen br oughtin termsof har dwarethere, usi ng ahighl evelofstandardizati on, can usemore compati bility tools,is ari ch softwareresource s,especially t he nee d for

55、immediacyi n operationalsystems.S othe computercaneffectivelycontr olis usedto control andmeetitsspeed,on thevirtualmodel, real -timeand i n computati onal re quireme nts.Distr ibute d systemstartedwit h a contr olsystem for industriala utomatic instrumentusedto control,w hereas now iti ssucce ssful

56、lydeveloped int o 學實踐活動等。四、教材教學目標。1認識計數單位“十萬” “百萬” “千萬” “億” “十億” “百億” “千億” ，認識自然數，掌握十進制計數法，會根據數級讀、寫億以內和億以上的數，會根據要求用 “四舍五入”法來求一個數的近似數。體會和感受大數在日常生活中的應用，進一步發展數感。2 會筆算三位數乘兩位數的乘法、除數是兩位數的除法，會進行相應的乘、除法估算和驗算。3 會口算兩位數乘一位數和幾百幾十乘一位數，整十數除整十數、整十數除幾百幾十數。4認識直線、射線和線段，知道它們的區別；認識常見的幾種角，會比較角的大小，會用量角器量出角的度數，能按指定度數畫角。5認識垂線、平行線，會用直尺、三角板畫垂線和平行線；掌握平行四邊形和梯形的特征。6結合生活情境和探索活動學習圖形的有關知識，發展空間觀念。7了解不同形式的條形統計圖，學會簡單的數據分析，進一步體會統計在現實生活中的作用。8經歷從實際生活中發現問題、提出問題、解決問題的過程，體會數學在日常生活中的作用，初步形成綜合運用數學知識解決問題的能力。9 初步了解運籌的思想，形成從生活中發現數學問題的意識，初步形成觀察、分析及推理的能力。10 體會學習數學的樂趣，提高學習數學的興趣，建立學好數學的信心，養成認真作業、書寫整潔的良好習慣。五、本班學生情況：全班有 58 名學生，男29