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PID 的代码
handcode_pid.h
#ifndef HANDCODE_PID_H
#define HANDCODE_PID_H
extern void
pid_controller_init(void);
extern void
pid_controller_step(float y, float uc, float *u_out);
#endif /* HANDCODE_PID_H */
a_pid_cont.mdl
Model {
Name "a_pid_cont"
Version 6.4
MdlSubVersion 0
GraphicalInterface {
NumRootInports 0
NumRootOutports 0
ParameterArgumentNames ""
ComputedModel
pid2.m
function pid2;
%Massimo Davini 08/11/99
% put delgraf instead of delete(findobj('tag','grafico'));
% 25/may/02 Giampy
global stack;
watchon;
set(findobj('tag','plotol'),'visible','off');
pid3.m
function pid3;
%Massimo Davini 08/11/99
watchon;
global stack;
stack.evaluation=[];stack.simulation=[];
stack.general.K_flag=0;
drawnow;
G=stack.temp.plant; %original plant
pid1.m
function pid1;
%Massimo Davini 08/11/99
watchon;
global stack;
nm=stack.temp.canali;
stack.temp.canale=nan; %canale attuale
stack.temp.stabili=nan*ones(1,nm); %fl
pid0.m
function pid0(n)
%PID0 : prima finestra controllo PID
%
% pid0(n)
%
% n = intero che indica il numero di blocchi di integratori
% richiesti nella finestra precedente
%
%Massimo Davini 08/
pid随动.txt
u=zeros(4,1);
y=zeros(3,1);
e=zeros(3,1);
kp=0.61;
ki=0.11;
kd=0.3;
k1=kp+ki+kd;
k2=-kp-2*kd;
k3=kd;
kpid=[k1,k2,k3];
a=[0.368,0,0];
b=[0,0,0,0.6321];
yk=0;
yt=0;
uk=0;
uk1=0;
t=0;
x=
pid算法阶跃.txt
u=zeros(4,1);
y=zeros(3,1);
e=zeros(3,1);
kp=0.045;
ki=0.1;
kd=0.3;
k1=kp+ki+kd;
k2=-kp-2*kd;
k3=kd;
kpid=[k1,k2,k3];
a=[0.368,0,0];
b=[0,0,0,0.6321];
yk=0;
yt=0;
uk=0;
uk1=0;
t=0;
r=
gui_pid.c
/*
*********************************************************************************************************
* uC/GUI
* Univers