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PID 的代码
handcode_pid.c
#include "handcode_pid.h"
struct
{
float K;
float Ti;
float Td;
float Ts;
float b;
float N;
float state_I;
float state_y;
float state_Dk;
} pid_para
handcode_pid.h
#ifndef HANDCODE_PID_H
#define HANDCODE_PID_H
extern void
pid_controller_init(void);
extern void
pid_controller_step(float y, float uc, float *u_out);
#endif /* HANDCODE_PID_H */
a_pid_cont.mdl
Model {
Name "a_pid_cont"
Version 6.4
MdlSubVersion 0
GraphicalInterface {
NumRootInports 0
NumRootOutports 0
ParameterArgumentNames ""
ComputedModel
pid_structure.m
function regStruct = pid_structure(model,reqStruct)
%PID_STRUCTURE Structure selection for a ISA-PID regulator.
%
% REGSTRUCT = PID_STRUCTURE(MODEL,REQSTRUCT) returns the ``best''
% structure
pid_isatd.m
function [sys,x0,str,ts] = pid_isatd(t,x,u,flag,Ts,umin,umax,As,hystLevel)
%PID_ISATD Discrete time ISA-PID (implemented as an S-function).
%
% The PID closely resemble the structure of a real in
pid_structure.html
Description of pid_structure
pid_tuning.html
Description of pid_tuning
pid_isatd.html
Description of pid_isatd
pid_autotuner.html
Description of pid_autotuner
pid_tuning.m
function [K,Ti,Td,N,b] = pid_tuning(model,method,param,regStruct,As)
%PID_TUNING Tune the parameters of a ISA-PID regulator with some
% well-defined autotuning methods.
%
% [K,Ti,Td,N,b] = PID