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C:\tic2xx\c2000\cgtools\bin\dspa.exe KesaiR_PID.asm KesaiR_PID.obj -gls -v2xx TMS320C1x/C2x/C2xx/C5x COFF Assembler Version 7.00 Wed Jun 8 17:23:51 2005 Copyright (c) 1987-1999 Texas Instrumen

C:\tic2xx\c2000\cgtools\bin\dspa.exe Omiga_PID.asm Omiga_PID.obj -gls -v2xx TMS320C1x/C2x/C2xx/C5x COFF Assembler Version 7.00 Wed Jun 8 17:23:51 2005 Copyright (c) 1987-1999 Texas Instruments

;==================================================================== ; Filename : KesaiR_PID.asm ; Module names: KesaiR_PID ; Initialization routines: KesaiR_PID_INIT ; Description: KesaiR的PID调节器

;==================================================================== ; Filename : Omiga_PID.asm ; Module names: Omiga_PID ; Initialization routines: Omiga_PID_INIT ; Description: Omiga的PID调节器 ;-

# accel1.pid # # combines proportional, integral and # derivative gains with acceleration P=1.3 Proportional gain I=1.2 Integral gain D=0.025 Derivative gain H=0

# 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=0.02

Model { Name "one_PID" Version 6.0 GraphicalInterface { NumRootInports 0 NumRootOutports 0 ParameterArgumentNames "" ComputedModelVersion "1.63" Nu

% ------ pid2.m ------ % 小车位置PID控制 % 输入倒立摆传递函数 G1(s)=num1/den1,G2(s)=num2/den2 M = 0.5; m = 0.2; b = 0.1; I = 0.006; g = 9.8; l = 0.3; q = (M+m)*(I+m*l^2) -(m*l)^2; num1 = [m*l/q 0 0];

% ------ pid1.m ------ % 摆杆角度PID控制 % 输入倒立摆传递函数 G1(S)=num1/den1 M = 0.5; m = 0.2; b = 0.1; I = 0.006; g = 9.8; l = 0.3; q = (M+m)*(I+m*l^2)-(m*l)^2; num1 = [m*l/q 0 0]; den1 = [1 b*(I+m*