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PID 的代码
pid.vbp
Type=Exe
Form=pid.frm
Reference=*\G{00020430-0000-0000-C000-000000000046}#2.0#0#..\..\..\..\..\WINDOWS\system32\stdole2.tlb#OLE Automation
Form=instructions.frm
IconForm="Form1"
Startup="Form1"
pid算法.txt
<mark>PID</mark>算法
<mark>PID</mark>是比例，积分，微分的缩写，
Uo(N)=P*E(N)+I*[E(N)+E(N-1)+...+E(0)]+D*[E(N)-E(N-1)]
E-误差
P--改变P可提高响应速度，减小静态误差，但太大会增大超调量和稳定时间。
I--与P的作用基本相似，但要使静态误差为0，必须使用积分。
D--与P,I的作用相反，主要是为了减小超调，减小稳定时间。
...
pid.m
%delay:3拍，速度PID加入考虑上拍速度环节，上一拍速度的影响体现在系数K上
clc;
clear;
SetPoint = 100;
StartPoint = 0;
Kp = 0.1;
Ki = 0.4;
Kd = 0.5;
K = 0.4;
v = 0;
e = 0;
e_1 = 0;
e_2 = 0;
e_3 = 0;
e_4 = 0;
e_5 = 0;
pid.c
/*************************************************************************/
/* */
/* Copyright (c) 1993-1996 Accelerated
out.pid
#! /bin/sh
#
# Run a program, appending its process id to its output file name
#
outflag="-o"
if test $# -eq 2; then
out="$2"
set - "$1"
else
while echo " $1" | grep "^ -" >/dev/null; do
pid.lst
C51 COMPILER V7.04 PID 05/17/2006 17:00:59 PAGE 1
C51 COMPILER V7.04, COMPILATION OF MODULE PID
OBJECT MODULE PLACED IN pid
pid.c
#include
#include
struct _pid {
int pv; /*integer that contains the process value*/
int sp; /*integer that contains the set point*/
float integral;
pid.f
( PID.F ... Proportional, Integral, Derivative Control Loop Code)
( Steven E. Sarns and Jack Woehr)
( Variables and Initializations)
variable KP 100 KP !
pid.mdl
Model {
Name "PID"
Version 5.0
SaveDefaultBlockParams on
SampleTimeColors off
LibraryLinkDisplay "none"
WideLines off
ShowLineDimensions off
ShowPortDataTypes