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% ------ pid2.m ------ % 小车位置PID控制 % 输入倒立摆传递函数 G1(s)=num1/den1,G2(s)=num2/den2 M = 0.5; m = 0.2; b = 0.1; I = 0.006; g = 9.8; l = 0.3; q = (M+m)*(I+m*l^2) -(m*l)^2; num1 = [m*l/q 0 0];

% ------ pid1.m ------ % 摆杆角度PID控制 % 输入倒立摆传递函数 G1(S)=num1/den1 M = 0.5; m = 0.2; b = 0.1; I = 0.006; g = 9.8; l = 0.3; q = (M+m)*(I+m*l^2)-(m*l)^2; num1 = [m*l/q 0 0]; den1 = [1 b*(I+m*

%PID Controler with Partial differential clear all; close all; ts=20; 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;

%PID Controler (2001/9/6) close all; ts=0.25; sys=tf(1,[10,2,0]); dsys=c2d(sys,ts,'z'); [num,den]=tfdata(dsys,'v'); u_1=0;u_2=0; y_1=0;y_2=0; x=[0,0,0]'; error_1=0; for k=1:1:1000

function [u]=pid_aw1f1(u1,u2,u3,u4) e=u2; un=u3; us=u4; M=2; switch M case 1 %PID u=e; case 2 %Anti-windup PID umin=0; umax=10; ua=(umin+umax)/2; if

;********增量式PID控制算法程序*********** ;T、TD、TI、KP依次从30H，33H，36H，39H开始。 ;A，B，C的值依次存在BLOCK1，BLOCK2，BLOCK3的地址里 ; 这里R(k)给的是定值 ORG 0000H BLOCK1 EQU 43H ;A,B ,C BLOCK2 EQU 46H BLOCK3 EQU 49H

9.4 ----9.8 8.6 wait pid 函数--------进程的前后台程序

9.4 ----9.8 8.6 wait pid 函数--------进程的前后台程序