對(duì)于PID初學(xué)者頗有指導(dǎo)，將偏差的比例（Proportion）、積分（INTEGRAL）和微分（Differential）通過(guò)線性組合構(gòu)成控制量， 用這一控制量對(duì)被控對(duì)象進(jìn)行控制，這樣的控制器稱 PID 控制器。
標(biāo)簽： PID
上傳時(shí)間： 2016-04-27
上傳用戶：547453159
pid控制 #ifndef _PID_H #ifndef _PID_H #ifdef _PID_C #define PID_EXT #else #define PID_EXT extern #endif typedef struct PID { int SetPoint; unsigned char BitMove; float Proportion; float INTEGRAL; float Derivative; int iError; int iIncpid; int LastError; int PrevError; int Uk; }PID,*pPID; PID_EXT PID sPID; PID_EXT pPID sptr; void IncPIDInit(void); int IncPIDCalc(int NextPoint); #endif
上傳時(shí)間： 2019-08-02
上傳用戶：stcwzy
The Internet of Things is considered to be the next big opportunity, and challenge, for the Internet engineering community, users of technology, companies and society as a whole. It involves connecting embedded devices such as sensors, home appliances, weather stations and even toys to Internet Protocol (IP) based networks. The number of IP-enabled embedded devices is increasing rapidly, and although hard to estimate, will surely outnumber the number of personal computers (PCs) and servers in the future. With the advances made over the past decade in microcontroller,low-power radio, battery and microelectronic technology, the trend in the industry is for smart embedded devices (called smart objects) to become IP-enabled, and an INTEGRAL part of the latest services on the Internet. These services are no longer cyber, just including data created by humans, but are to become very connected to the physical world around us by including sensor data, the monitoring and control of machines, and other kinds of physical context. We call this latest frontier of the Internet, consisting of wireless low-power embedded devices, the Wireless Embedded Internet. Applications that this new frontier of the Internet enable are critical to the sustainability, efficiency and safety of society and include home and building automation, healthcare, energy efficiency, smart grids and environmental monitoring to name just a few.
標(biāo)簽： Embedded Internet Wireless 6LoWPAN The
上傳時(shí)間： 2020-05-26
上傳用戶：shancjb
Device-to-device(D2D) communications are now considered as an INTEGRAL part of future 5G networks which will enable direct communication between user equipment (UE) without unnecessary routing via the network infrastructure. This architecture will result in higher throughputs than conventional cellular networks, but with the increased potential for co-channel interference induced by randomly located cellular and D2D UEs.
標(biāo)簽： Device-to-Device Communications Analysis of
上傳時(shí)間： 2020-05-26
上傳用戶：shancjb
In this chapter we give a quick overview of control theory, explaining why INTEGRAL feedback control works, describing PID controllers, and summariz- ing some of the currently available techniques for PID controller design. This background will serve to motivate our results on PID control, pre- sented in the subsequent chapters.
標(biāo)簽： Controllers Time-Delay Systems PID for
上傳時(shí)間： 2020-06-10
上傳用戶：shancjb
%this is an example demonstrating the Radial Basis Function %if you select a RBF that supports it (Gausian, or 1st or 3rd order %polyharmonic spline), this also calculates a line INTEGRAL between two %points.
標(biāo)簽： RBF 神經(jīng)網(wǎng)絡(luò)
上傳時(shí)間： 2021-07-02
上傳用戶：19800358905
以單片機(jī)控制A/D轉(zhuǎn)換器TLC549為例,對(duì)A/D轉(zhuǎn)換器的主要技術(shù)指標(biāo)進(jìn)行了分析研究,在Proteus平臺(tái)下,完成了A/D轉(zhuǎn)換電路的構(gòu)建,采用器件工作時(shí)序方式進(jìn)行程序編寫,借助仿真圖表、虛擬儀器等工具對(duì)A/D轉(zhuǎn)換的數(shù)據(jù)進(jìn)行測(cè)量并對(duì)失調(diào)誤差、增益誤差、微分非線性、積分非線性和轉(zhuǎn)換時(shí)間等重要參數(shù)進(jìn)行了詳細(xì)分析。結(jié)果表明:使用Proteus軟件可對(duì)A/D轉(zhuǎn)換過(guò)程進(jìn)行定性分析,將抽象的A/D轉(zhuǎn)換器技術(shù)指標(biāo)直觀化、形象化展現(xiàn)出來(lái),有助于學(xué)生更好地理解A/D轉(zhuǎn)換過(guò)程。The main technical indicators of A/D converter were analyzed and studied with an example from A/D converter TLC2543 which is controlled by using SCM.It was completed the construction of the A/D converter circuit under the Proteus software.The programming based on the operation sequence of the chip is put forward.With the aid of the simulation tools such as virtual instrument,simulation charts provided by Proteus,the important parameters of circuit such as offset error,gain error,differential nonlinearity(DNL),INTEGRAL nonlinearity (INL) and conversion time are analyzed detailedly.Simulation results show that the A/D conversion process can be qualitatively analyzed and visualized the abstract indicators of A/D.The system can help students better to understand the SCM conversion process.
標(biāo)簽： proteus 單片機(jī) 模數(shù)轉(zhuǎn)換
上傳時(shí)間： 2022-04-04
上傳用戶：
首先介紹一下原理，其實(shí)很簡(jiǎn)單，磁力對(duì)懸浮物的控制，其基本原理是：霍爾傳感器在浮子的正下方，當(dāng)檢測(cè)到浮子向左運(yùn)動(dòng)時(shí)，兩邊的線圈一個(gè)吸一個(gè)拉，把它推向右；反之如果浮子想右運(yùn)動(dòng)，那么兩個(gè)線圈的電流都反向，總共兩組共四個(gè)這樣的線圈，就可以把浮子限制在二維平面之內(nèi)了。但是線圈產(chǎn)生的力是比較小的，因此只能夠推動(dòng)浮子在水平面移動(dòng)，要克服浮子的重力讓它懸浮起來(lái)，就要在四個(gè)線圈下面再加一個(gè)大的環(huán)形磁鐵提供斥力。為了讓懸浮更加穩(wěn)定，我們采用了PID控制的平衡算法，對(duì)PID算法的了解有助于我們對(duì)整個(gè)實(shí)驗(yàn)原理的理解，借用網(wǎng)上對(duì)PID的一段介紹：在工程實(shí)際中，PID控制是應(yīng)用最為廣泛的調(diào)節(jié)器控制機(jī)制。PID控制中得P代表比例，即proportion；I代表積分，即INTEGRAL；D代表微分，即differential；因此，PID控制，即比例-積分-微分控制。當(dāng)被控對(duì)象的結(jié)構(gòu)和參數(shù)不能完全掌握，或者得不到精確的數(shù)學(xué)模型時(shí)，其他的控制方法難以采用，那么控制器的結(jié)構(gòu)和參數(shù)必須結(jié)合經(jīng)驗(yàn)和現(xiàn)場(chǎng)調(diào)試來(lái)決定，在這種情況下采用PID調(diào)節(jié)最為方便。首先，比例控制是一種最簡(jiǎn)單的控制方式，就像胡克公式中的比例系數(shù)一樣，當(dāng)控制器的輸出與輸入信號(hào)成比例關(guān)系，那么就可以得到一個(gè)比例系數(shù)。其次，積分控制是指控制器的輸出與輸入的誤差信號(hào)的積分有關(guān)。就如同電路中的電感元件，某個(gè)時(shí)刻的電壓與電流的積分有關(guān)。類似的，有時(shí)候信號(hào)的輸出必須綜合之前信號(hào)的輸入，而這種綜合往往是求和關(guān)系，因此使用積分控制簡(jiǎn)單易行。最后，微分控制是指控制器的輸出與輸入信號(hào)的微分有關(guān)。最簡(jiǎn)單的微分關(guān)系就是速度是位矢的微分。我們?cè)诳刂茟腋∥锏钠胶鈺r(shí)，光知道懸浮物偏離平衡位置的位移從而采用比例控制是不夠的，對(duì)于同樣的偏離位移，懸浮物可能有不同的速度，那么要求我們對(duì)懸浮物有不同的處理方法，而恰恰速度是位矢的微分，于是我們可以通過(guò)對(duì)位移輸入數(shù)據(jù)進(jìn)行微分操作，來(lái)實(shí)現(xiàn)對(duì)懸浮物的精確實(shí)時(shí)控制。可見(jiàn)，PID控制器是一種那個(gè)動(dòng)態(tài)的控制機(jī)制。 以上就是實(shí)現(xiàn)下推式磁懸浮的基本原理，借助以上的基本原理，結(jié)合一定的軟件算法實(shí)現(xiàn)，我們就可以對(duì)懸浮物進(jìn)行動(dòng)態(tài)控制。
上傳時(shí)間： 2022-06-07
上傳用戶：canderile
本應(yīng)用筆記介紹一種采用dsPIC數(shù)字信號(hào)控制器（Digital Signal Controller，DSC）或PIC24單片機(jī)來(lái)實(shí)現(xiàn)無(wú)刷直流（Brushless Direct Current，BLDC）電機(jī)無(wú)傳感器控制的算法。該算法利用對(duì)反電動(dòng)勢(shì)（Back-Electromotive Force，BEMF）進(jìn)行數(shù)字濾波的擇多函數(shù)來(lái)實(shí)現(xiàn)。通過(guò)對(duì)電機(jī)的每一相進(jìn)行濾波來(lái)確定電機(jī)驅(qū)動(dòng)電壓換相的時(shí)刻。這一控制技術(shù)省卻了分立的低通濾波硬件和片外比較器。需指出，這里論述的所有內(nèi)容及應(yīng)用軟件，都是假定使用三相電機(jī)。該電機(jī)控制算法包括四個(gè)主要部分：·利用DSC或單片機(jī)的模數(shù)轉(zhuǎn)換器（Analog-to-Digital Converter，ADC）來(lái)采樣梯形波BEMF信號(hào)·PWM導(dǎo)通側(cè)ADC采樣，以降低噪聲并解決低電感問(wèn)題·將梯形波BEMF信號(hào)與VBUS/2進(jìn)行比較，以檢測(cè)過(guò)零點(diǎn)·用擇多函數(shù)濾波器對(duì)比較結(jié)果信號(hào)進(jìn)行濾波·以三種不同模式對(duì)電機(jī)驅(qū)動(dòng)電壓進(jìn)行換相：-傳統(tǒng)開(kāi)環(huán)控制器·傳統(tǒng)閉環(huán)控制器比例-積分（Proportional-INTEGRAL，Pl）閉環(huán)控制器
標(biāo)簽： BLDC
上傳時(shí)間： 2022-07-01
上傳用戶：
#nclude<reg51.h>#include<intrins.h>#銷nclude<math.h>#include<string.h>struct PID{unsigned int SetPoint；//設(shè)定目標(biāo) Desired Value unsigned int Proportion；//比例常數(shù)Proportional Const unsigned int INTEGRAL；//積分常數(shù)INTEGRAL Const unsigned int Derivative://微分常數(shù)Derivative Const unsigned int LastError；//Emorl-1]unsigned int PrevError；//Errorl-2]unsigned int SumError；//Sums of Errors struct PID spid；//PID Control Structure unsigned int rout；//PID Response（Output）unsigned int rin://PID Feedback（Input）sbit data1=P100；sbit clk=P141；sbit plus=P240；sbit subs=P241：sbit stop=P22；sbit output=P34；sbit DQ=P33；unsigned char flag，flag_1=0；unsigned char high_time，low_time，.count=0，/占空比調(diào)節(jié)參數(shù)unsigned char set_temper=35；unsigned char temper；unsigned chari：unsigned charj=0；unsigned ints；
上傳時(shí)間： 2022-07-02
上傳用戶：xsr1983
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