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PID 的代码
pid.c
#define Position 9
#define MAX_Speed 50
#define MIX_Speed 10
#define Init_Speed 30 //初始给定速度
char e0,e1,e2;
float Mid_Speed,Mid_SpeedV;
float Left_SpeedV,Right_SpeedV;
//const float P=Kp*(1+T/
pid.h
//*****************************************************************************
//
// pid.h - Prototypes for the PID feedback control algorithm.
//
// Copyright (c) 2005,2006 Luminary Micro, Inc. All
pid.c
//*****************************************************************************
//
// pid.c - PID feedback control algorithm.
//
// Copyright (c) 2005,2006 Luminary Micro, Inc. All rights reserved.
/
pid.c
/*************************************************************************/
/* */
/* Copyright (c) 1993-2001 Accelerated
is_pid.m
% 积分分离式PID控制器
clear all;
close all;
ts=20;
% 延迟
sys=tf([1],[60,1],'inputdelay',80);
dsys=c2d(sys,ts,'zoh');
[num,den]=tfdata(dsys,'v');
u_1=0;u_2=0;u_3=0;u_4=0;u_5=0;
y_1=0;y_2=0;y_3=0;
pid.mdl
Model {
Name "PID"
Version 4.00
SampleTimeColors off
LibraryLinkDisplay "none"
WideLines off
ShowLineDimensions off
ShowPortDataTypes off
ShowStorageClass o
pid.mcs
[Header]
MagicCookie={0b13fe8c-dfe0-40eb-8900-6712719559a7}
Version=1.0
[File000]
Location=C:\Users\Ricardo\Documents\Documentos\5篴no\Projecto\Disserta玢o\c骴igo main ricardo\controlo PID\Mainboard_