accel2.pid

来自「稀疏矩阵、链表、图、队列、二叉树、多叉树、排序、遗传算法等的实现」· PID 代码 · 共 26 行

# accel2.pid
#
# combines proportional, integral and
# derivative gains and adds acceleration
# and velocity feed forwards

P=1.3          Proportional gain
I=1.2          Integral gain
D=0.025        Derivative gain
H=0            output Hold
A=1.0          Acceleration feed forward
F=0            Friction feed forward
V=1.0          Velocity feed forward
B=0            constant Bias
R=3            acceleration Rate
S=70           Set point
T=1            Transfer ratio
L=.368         response Lag
N=-100         miNimum output
M=100          Maximum output
W=0            sleW limit
Y=51           cYcle count
@51 s=0
@51 y=50
@101 q