threeservos_init.m

来自「一个很棒的网络控制系统仿真软件」· M 代码 · 共 31 行

function threeservos_init

ttInitKernel(6, 3, 'prioRM'); % nbrOfInputs, nbrOfOutputs, RM

periods = [0.006 0.005 0.004];
names = {'pid_task1', 'pid_task2', 'pid_task3'};
rChans = [1 3 5];
yChans = [2 4 6];
uChans = [1 2 3];

for i = 1:3
  data.K = 0.96;
  data.Ti = 0.12;
  data.Td = 0.049;
  data.N = 10;
  data.h = periods(i);
  data.u = 0;
  data.Iold = 0;
  data.Dold = 0;
  data.yold = 0;
  data.rChan = rChans(i);
  data.yChan = yChans(i);
  data.uChan = uChans(i);

  ttCreatePeriodicTask(names{i}, 0.0, periods(i), 2, 'pidcode', data);
end