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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
servoconf_8h-source.html
Procyon AVRlib: conf/servoconf.h Source File
cnf.m
function cnf
% This is a MatLab-based Toolkit for Composite Nonlinear Feedback (CNF) control.
% Author(s): HDD Servo Group,
% The Department of Electrical and Computer Engineering
% Nat
cnf_set.m
function cnf_set(Action,AxesHandle)
%
% Copyright: HDD servo group at
% The Department of Electrical and Computer Engineering
% National University of Singapore
%
ud=get(AxesHandle,'Use
tunequad[1].bs2
'---- [TuneQuad.bs2 Version 1.1]------------------------------------------
'{$STAMP BS2}
'{$PBASIC 2.5}
' Ver 1.1
'
' File....... TuneQuad.BS2
' Purpose.... Adjust QuadCrawler Legs
' Auth
quadwalking_engine_base_program[1].bs2
'------- [QuadWalking_Engine_Base_Program ] ------------------------------
'{$STAMP BS2}
'{$PBASIC 2.5}
'
' File....... QuadWalking_Engine_Base_Program.BS2
' Purpose.... Investigate QuadWalki
quad_led_button_rc.bs2
'------- [Quad_LED_Button_RC ] -------------------------------------------
'{$STAMP BS2}
'{$PBASIC 2.5}
'
' File....... Quad_LED_Button_RC.BS2
' Purpose.... Use EEPROM tables, LED display, tw
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