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Servo 的代码
chap7_5.m
%Nonlinear PID Control for a servo system
clear all;
close all;
ts=0.001;
J=1/133;
q=25/133;
sys=tf(1,[J,q,0]);
dsys=c2d(sys,ts,'z');
[num,den]=tfdata(dsys,'v');
r_1=0;r_2=0;
u_1=0;u_2=0
qftex9.m
% QFTEX9 Uncertain flexible mechanism.
% Author: Y. Chait
% 2/15/93
% Copyright (c) 1995-98 by The MathWorks, Inc.
% $Revision: 1.4 $
clc
clear
echo on
% Example #9 (flexible servo
servo.h
#ifndef _SERVO_H_
#define _SERVO_H_
#include "config.h"
extern unsigned char servo_pos;
void servo_init(void);
void servo_set_pos(unsigned char servo_pos);
unsigned int servo_generate_bmp(unsigned cha
rcservo_task.c
/*
rcservo_task.c
Control two radio-controlled servo motors through the parallel port.
Notes:
At 5 V input, need all of 20K pull-up.
Min time is 0.35 msec, max is 2.45 msec.
*/
#include
dspic-servo.mcp
[HEADER]
magic_cookie={66E99B07-E706-4689-9E80-9B2582898A13}
file_version=1.0
[PATH_INFO]
dir_src=
dir_bin=
dir_tmp=
dir_sin=
dir_inc=
dir_lib=C:\Program Files\Microchip\MPLAB C30\lib
dir_lk
dspic-servo.hex
:020000040000fa
:080000001c01040000000000d7
:020000040000fa
:1002000000000000000000000000000000000000ee
:1002100000000000000000000000000000000000de
:1002200000000000000000000000000000000000ce
:1
main.c
//---------------------------------------------------------------------
// File: main.c
//
// Written By: Lawrence Glaister VE7IT
//
// Purpose: This program is used to control an single axis se
chap9_3.m
%PID Control with Stribeck Friction Model
clear all;
close all;
global w A alfa J Ce R Km Ku S a1 Fm Fc M kv
%Servo system Parameters
J=0.6;Ce=1.2;Km=6;
Ku=11;R=7.77;
w=1*2*pi;A=0.10;
al