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PID 的代码
pid.txt
这是我们实验室计算机控制实验台的一个简单例程(PID子程序,位置式PID算法),用TC3写的,其实很简单(位置控制的)
Sample是当前采样值,Position是目标值
int PIDPro(float Sample, float Position)
{
int DAOut;
ErrPres=Position-Sample; //E(k)=R(
pid.c
/*************************************************************************/
/* */
/* Copyright (c) 1993-1998 Accelerated
pid.c
/*
This file implements a pid controller used to simulator cruise control in a car
The input is a throtle value between 0 - 100 ( read on P1 )
The output is the car's speed ( P2 - P0 )
pid.mdl
Model {
Name "PID"
Version 6.3
MdlSubVersion 0
GraphicalInterface {
NumRootInports 0
NumRootOutports 0
ParameterArgumentNames ""
ComputedModelVersion
pid.mdl
Model {
Name "PI"
Version 6.3
MdlSubVersion 0
GraphicalInterface {
NumRootInports 0
NumRootOutports 0
ParameterArgumentNames ""
ComputedModelVersion
pid.m
function pid(numPs,denPs,numT,denT,numC,denC,numPinvs,denPinvs)
global K TauI TauD keps a1 a2 b1 b2 Alpha c1 c2 Kalf PID1lagden
global pid_text PID2lagden PIDrealden
% Calculates PID parameters
pid.mdl
Model {
Name "PID"
Version 5.0
SaveDefaultBlockParams on
SampleTimeColors off
LibraryLinkDisplay "none"
WideLines off
ShowLineDimensions off
ShowPortDataTypes
pid.mdl
Model {
Name "pid"
Version 5.0
SaveDefaultBlockParams on
SampleTimeColors off
LibraryLinkDisplay "none"
WideLines off
ShowLineDimensions off
ShowPortDataTypes