singleservo_init.m

一个很棒的网络控制系统仿真软件

function singleservo_init

ttInitKernel(2, 1, 'prioFP'); % nbrOfInputs, nbrOfOutputs, FP

data.K = 0.96;
data.Ti = 0.12;
data.Td = 0.049;
data.N = 10;
data.h = 0.006;
data.u = 0;
data.Iold = 0;
data.Dold = 0;
data.yold = 0;
data.rChan = 1;
data.yChan = 2;
data.uChan = 1;

ttCreatePeriodicTask('pid_task', 0.0, 0.006, 2, 'pidcode', data);