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PID 的代码
pid30.m
%抗积分饱和PID控制
clear all;
close all;
%初始化各输入输出参数
ts=5;
u_0=0;u_1=0;u_2=0;u_3=0;u_4=0;u_5=0;u_6=0;u_7=0;
y_0=0;y_1=0;
x=[0,0,0,];
error_1=0;
%控制参数
um=50;
pid_file.c
#ifdef HAVE_CONFIG_H
# include
#endif
#include
#include
#include
#include
#if HAVE_ERRNO_H
# include
#endif
#if HAVE_SIGNAL_H
# inc
pid_file.h
#ifndef _PID_FILE_H
#define _PID_FILE_H
int pid_file_create(char *pid_file);
int pid_file_delete(char *pid_file);
#endif
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
pid_output.po
pid_output.o: pid_output.c zebra.h ../config.h \
/opt/eldk/eldk_3.1.1/ppc_8xx/usr/include/unistd.h \
/opt/eldk/eldk_3.1.1/ppc_8xx/usr/include/features.h \
/opt/eldk/eldk_3.1.1/ppc_8xx/usr/includ
gui_pid.c
/*
*********************************************************************************************************
* uC/GUI
* Univers
gray_pid.m
%Grey model PID Control
clear all;close all;
global kp kd a b A B F AA
F=1.0;
para=[];
AA=0.50;
%Disturbance Prediction
BB=zeros(1,3);
ts=0.001;
N=4;
ab=abs(det(BB'*BB));
TimeSet=[0:
step_pid.m
%PID Control with Gradual approaching input value
clear all;
close all;
ts=0.001;
sys=tf(5.235e005,[1,87.35,1.047e004,0]);
dsys=c2d(sys,ts,'z');
[num,den]=tfdata(dsys,'v');
u_1=0;u_2=0;u_3=