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PID 的代码
pid.lst
C51 COMPILER V7.06 PID 09/08/2005 15:02:37 PAGE 1
C51 COMPILER V7.06, COMPILATION OF MODULE PID
OBJECT MODULE PLACED IN E:\
step.pid
# step.pid
#
# shows the step function response with a 10%
# step in "manual mode", that is using the
# constant bias parameter only
#
# sets the Set point value the same as the
# desired outpu
id.pid
# id.pid
#
# same integral gain as ionly.pid,
# derivative gain added
# initial settings
P=0 Proportional gain
I=1.0 Integral gain
D=.3 Derivative gain
H=0
ionly.pid
# ionly.pid
#
# integral gain only
# initial settings
P=0 Proportional gain
I=1.0 Integral gain
D=.0 Derivative gain
H=0 output Hold
A=0
pid.m
g = 9.8; %重力加速度 单位：m/s2
pi = 3.14; %圆周率
mh = 1.8; %直升机本体质量 单位：kg
la = 0.88; %直升机本体到旋转轴的距离 单位：m
mw = 3.443; %平衡块的质量 单位：kg
lb = 0.35; %平衡快到支点的距离 单位：m
Tg = mh*g*la - mw*g*lb; %系统有效的重力矩 单位：N*m
Je
pid.h
/*
* PID Force feedback support for hid devices.
*
* Copyright (c) 2002 Rodrigo Damazio.
*/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of t
pid.c
/*
* PID Force feedback support for hid devices.
*
* Copyright (c) 2002 Rodrigo Damazio.
* Portions by Johann Deneux and Bjorn Augustson
*/
/*
* This program is free software; you can redist
pid.mdl
Model {
Name "pid"
Version 6.3
MdlSubVersion 0
GraphicalInterface {
NumRootInports 0
NumRootOutports 0
ParameterArgumentNames ""
ComputedModelVersion