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PID 的代码
pid1.m
% ------ 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*
fuzzy_pid.mdl
Model {
Name "Fuzzy_Subsys"
Version 6.5
MdlSubVersion 0
GraphicalInterface {
NumRootInports 0
NumRootOutports 0
ParameterArgumentNames ""
ComputedMod
76_pid.vhd
library work;
use work.synchro.all;
use work.op_pkg.all;
----------------------------------------------------------------
entity pid is
port (
reset : in bit;
Fsignin :
pid_control.mdl
Model {
Name "chap1_4"
Version 3.00
SimParamPage "Solver"
SampleTimeColors off
InvariantConstants off
WideVectorLines off
ShowLineWidths off
ShowPortDataTypes
test_pid.c
// Test PID
#include "includes.h"
/*
INT16U FuzzyLogic(INT16U input_value);
#define FuzzySpeeder(err, acc) FuzzyLogic((INT16U)((err)
int_pid.s
;/*************************************************************************/
;/* */
;/* Copyright Mentor Graphics