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PID 的代码
76_pid_stim.vhd
library work;
entity test_pid is
end test_pid;
architecture beh of test_pid is
component fu_pid
port
( reset : in bit;
Fsignin : in bit;
HostInterrupt : in bit;
Positi
digital_pid_vec.asm
.include "lf2407_regs.h" ;引用头部文件
;建立中断向量表
.sect ".vectors" ;定义主向量段
Reset_VEC B _cy_begin ;PM 0 Reset Vector 1
INT1 B GISR1 ;PM 2 Int level 1 4
INT2 B PHANT
digital_pid_vec.asm
.include "lf2407_regs.h" ;引用头部文件
;建立中断向量表
.sect ".vectors" ;定义主向量段
Reset_VEC B _cy_begin ;PM 0 Reset Vector 1
INT1 B GISR1 ;PM 2 Int level 1 4
INT2 B PHANT
76_pid_stim.vhd
library work;
entity test_pid is
end test_pid;
architecture beh of test_pid is
component fu_pid
port
( reset : in bit;
Fsignin : in bit;
HostInterrupt : in bit;
Positi
pid_lianxi_descrete.m
clear;
x0=[2.813,1.719,1.151];%x=[Kp,Ki,Kd]
c1=1.495;c2=1.495;n=3;group=50;Dmax=100;
% Vmm=[0.4 1.2;0.35 1.05;0.05 0.15];
Vmm=[-2.5 2.5;-2.5 2.5;-2.5 2.5];%可以为负吗
Xmm=[0 5;0 5;0 5];
X=zeros(n,g
pid7t.h
#ifndef __PID7TDEF
#define __PID7TDEF
/*******************************************************************************/
/* Base addresses for standard memory-mapped peripherals
pid_reg3.h
/* =================================================================================
File name: PID_REG3.H (IQ version)
Originator: Digital Control S
3sifu_pid.c
#include "C240.h"
#define TRUE 1
#define FALSE 0
#define VELOCITY_CONST 3125000
/* define variable */
static unsigned int PBvalue[4][6]=
{{0x0703,0x0704,0x0706,0x0701,0x0702,0x0705},
{
76_pid_stim.vhd
library work;
entity test_pid is
end test_pid;
architecture beh of test_pid is
component fu_pid
port
( reset : in bit;
Fsignin : in bit;
HostInterrupt : in bit;
Positi