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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
armengine_serial.bsp
'----[ArmEngine_Serial.bsp]-----------------------------------------
' {$STAMP BS2p}
' {$PBASIC 2.5}
'
' File....... ArmEngine_Serial.bsp
' Purpose.... Basic arm movement
' Author..... Cru
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
chap9_5i.m
%Three Loop of Flight Simulator Servo System with Direct Current Motor
clear all;
close all;
%(1)Current loop
L=0.001; %L
chap9_6i.m
%Three Loop of Flight Simulator Servo System with two-mass of Direct Current Motor
clear all;
close all;
%(1)Current loop
L=0.001; %L
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
crc.c
/*****************************************************
//* STEP SERVO TECHNOLOGY Copyright (c) 2004，研发一部
//* 项目名称：
//* 函数名称：crc(void)
//* 内容简介：
//* 功能与实现方法： Modbus RTU CRC校
//* 函数接口说明：
//* 当前版
chap9_1.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
%Servo system Parameters
J=0.6;Ce=1.2;Km=6;
Ku=11;R=7.77;
w=1*2*pi;A=0.10;
alfa=
chap9_3f.m
%Three Loop of Flight Simulator Servo System with two-mass of Direct Current Motor
clear all;
close all;
%(1)Current loop
L=0.001; %L
chap9_2f.m
%Three Loop of Flight Simulator Servo System with Direct Current Motor
clear all;
close all;
%(1)Current loop
L=0.001; %L