pidcallback11.m

matlab 在pid领域的新的应用。用matlab环境实现pid控制。

function pidcallback(obj, event)
global b p i d p2 i2 d2 time2 quxian2 s receive datax datay error flagopen;


i=1;
j=1;
k=1;
n=1;
datax(1) = 0 ;
datay(1) = 0 ;
error(1) = 0 ;
total = 1;
count=16;

for total=1:200
total
    data = fread(s,count,'int16')
length(data)
for i=1:length(data)
    if mod(i,4)==2
        datax(j)=(data(i)*256*256+data(i-1))/100; 
        j=j+1
    elseif mod(i,4)==0
        datay(k)=(data(i)*256*256+data(i-1))/100;
        k=k+1
        error(n)=(datax(j-1)-datay(k-1));
        n=n+1;
    end
    m=0:time2:(length(datax)-1)*time2;
    i
    lengthm=length(m)
    lengthdatax=length(datax)
    lengthdatay=length(datay)
    plot(m,datax,'b');
    hold on;
    plot(m,datay,'r');
    hold on;
%plot(m,error,'r');
%hold on;
    end
end
xlabel('时间(ms)')
%plot(datay);
%plot(error);
fclose(s);
delete(s);
clear s;


flagopen=1;
%receive=fread(s);