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PID 的代码
pid2df.m
function pid2df(y,numPs,denPs,numT,denT,numC,denC,numPinvs,denPinvs,denFs,denFs2,Tcanc,E,ord,mq,inf)
global K TauI TauD PID2lagden PID_FIden keps a2 a1 b2 b1 PID_APXden...
PI_lagden PI_deng PI
pid_cascade2.m
function pid_cascade(simulate,Xpnummt,Xpdenmt,Xpdeadmt,Xmnummt,Xmdenmt,Xmdeadmt,...
Xpdnummt,Xpddenmt,cnummt,cdenmt,cfnummt,cfdenmt,order,orderf,x,y,Epsilon,...
subs,slbs,m,qf,qd,Tcanc,d_throu
pid_apxcas2.mdl
Model {
Name "pid_apxcas2"
Version 3.00
SimParamPage "Solver"
SampleTimeColors off
InvariantConstants off
WideVectorLines off
ShowLineWidths off
ShowPortDataT
pid2lag.mdl
Model {
Name "pid2lag"
Version 3.00
SimParamPage "Solver"
SampleTimeColors off
InvariantConstants off
WideVectorLines off
ShowLineWidths off
ShowPortDataTypes
pid_tf3.m
function [numC,denC]=pid_tf3(numPs,denPs,numPinvs,denPinvs,denFs)
%This function compute PID equivalent transfer function, q/(1-pq).
%(The resulting numC, denC will be used to compute PID prarmeter
pid_tf2.m
function [numC,denC]=pid_tf2(y,numPs,denPs,numT,denT,numPinvs,denPinvs,denFs,denFs2,Tcanc,E,mq,order)
%[numC,denC]=pid_tf2(y,numPs,denPs,numT,denT,numPinvs,denPinvs,denFs,denFs2,Tcanc,E,m,q,inf)
%Th
pid1lag.mdl
Model {
Name "pid1lag"
Version 3.00
SimParamPage "Solver"
SampleTimeColors off
InvariantConstants off
WideVectorLines off
ShowLineWidths off
ShowPortDataTypes
pid_apx2.mdl
Model {
Name "pid_apx2"
Version 3.00
SimParamPage "Solver"
SampleTimeColors off
InvariantConstants off
WideVectorLines off
ShowLineWidths off
ShowPortDataType
pid_obfun_mse.m
function [x_pop,fx_val] = PID_obfun_MSE(x_pop,options)
global Ball_Hoop
Kp = x_pop(2);
Ki = x_pop(3);
Kd = x_pop(1);
pid_den = [1 0];
pid_num = [Kd Kp Ki];
pid_sys = tf(pid_num,pid_den);
pid_objfun_iae.m
%PID_objfun_IAE.m
%Written by Ian Griffin July 2003
%Last Modified 20-08-03
%____________________________________________________________________
function [x_pop, fx_val]=PID_objfun_IAE(x_pop,opti