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PID 的代码
pid_design.m
%PID_DESIGN is the function used in CtrlLAB for PID controller design. In this
%function, different tuning algorithms are implemented, and details can be referred
%from the lecture notes.
%
%Av
pid_design.m
%PID_DESIGN is the function used in CtrlLAB for PID controller design. In this
%function, different tuning algorithms are implemented, and details can be referred
%from the lecture notes.
%
%Av
nn_pid.m
clear all;
close all;
xiteP=5;
xiteI=2.2;
xiteD=2.4;
i1_1=-10;i2_1=-10;i3_1=-50;i4_1=-10;
p3_1=-10;p1_1=-10;p2_1=-10;p4_1=-10;
d1_1=-0;d2_1=-0;d3_1=-0;d4_1=-0;
error_1=0;
error_2=
pid_advanced.c
#include "app.h"
#define P_center 180 // 角度偏差与速度偏差系数之比,
// 将弧度误差转换为位置 1度对应2.6毫米
fp32 PROP=10;
fp32 Ti=10000;
fp32 Td=0;
static fp32 EP1 = 0.0;
static fp32 EP2 = 0.
speed_pid.c
int add_speed[200];
int aim_speed=Max_Speed;
int count_curve=0;//弯曲次数
//--------------------------------------------------------------------------------------
// 函数名称： int DianJi_PID(int A
pid-fuzzy.c
unsigned int SetPoint //设定目标，应用时实际上取值该值的1/10，出现温度的0.x度
int ei; //最近1次偏差，ei=stPID.SetPoint-stPID.T_adc_data[2]
int LastError; //SetPoint-T_adc_data[1]
int delt_ei;
pid-struct.c
typedef struct DeltPID //定义增量式PID的结构
{
int Goal; //设定目标，为实际值的10倍
float P; //比例常数，规范化后取值为1~99
float I; //积分常数，规范化后取值为1~99
float D;
pid-ctrl.c
void PID_Ctrl(void) //增量式PID，调节ui
{
#define delt_Um 15
//刷新近2次偏差
PID.LastError=PID.ei;
PID.ei=PID.Goal-PID.ADC_data[0];
if(PID.ei