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PID 的代码
pid典型处理.c
/*=======================================================================================
这是一个比较典型的<mark>PID</mark>处理程序，在使用单片机作为控制cpu时，请稍作简化，具体的<mark>PID</mark>
参数必须由具体对象通过实验确定。由于单片机的处理速度和ram资源的限制，一般不采用浮点数运算，
而将所有参数全部用整 ...
pid_puma.m
% PID control of a 3DOF PUMA 560 Robot
%
% Name: Abdel-Razzak MERHEB
% Date: 5 Oct. 2008
%
clear all
close all
global teta1 teta2 teta3 told
global xdot z perror2 pderror perror desir
pid_header.h
// Two 16-bits fixed-point PID implementations in C with
// the Legacy code tool.
//
// Usage :
// Macros definitions
// Header file inclusions
// PID functions declarations
//
// Warning :
pid_sim.mdl
Model {
Name "pid_sim"
Version 7.0
MdlSubVersion 0
GraphicalInterface {
NumRootInports 0
NumRootOutports 12
Outport {
BusObject ""
Bus
pid_types.h
// Two 16-bits fixed-point PID implementations in C with
// the Legacy code tool.
//
// Usage :
// Integer types definitions (for LCC C-compiler)
//
// Author :
// Gilles Bailly, nov. 2008.
/
pid_source.c
// Two 16-bits fixed-point PID implementations in C with
// the Legacy code tool.
//
// Usage :
// PID function definitions.
//
// Author :
// Gilles Bailly, nov. 2008.
// LCAR UMR5589-CNRS,
pid_lct.m
% Two 16-bits fixed-point PID implementations in C with
% the Legacy code tool.
%
% Usage :
% Generation of 2 Simulink blocks that implement single and double
% precision 16-bits PID routines.
pid_ctrl.m
function yprime = pid_ctrl(t,y,er,er1,er2)
T=360; K=14.9; % System parametrs
Kp = 0.5; Ki = 0.05; Kd = 3; % PID Controller parametrs
yprime = [y(2); ((1/T)*(-y(2)+ K*Kd*er2 + K*Kp
pid_ctrl.m
function yprime = pid_ctrl(t,y,er,er1,er2)
T=360; K=14.9; % System parametrs
Kp = 0.5; Ki = 0.05; Kd = 3; % PID Controller parametrs
yprime = [y(2); ((1/T)*(-y(2)+ K*Kd*er2 + K*Kp
pid_output.c
/*
* Process id output.
* Copyright (C) 1998, 1999 Kunihiro Ishiguro
*
* This file is part of GNU Zebra.
*
* GNU Zebra is free software; you can redistribute it and/or modify it
* under the ter