樂高機器人

Nov 07, 2014

90 likes | 256 Views

樂高機器人. 本周進度. pid 差分方程式運算由 pid 調整經過差分方程式輸出波型模擬輸入波型. py(k)=e(k) iy(k)=y(k+1)+ki*e(k) Δ T[ 右極限 ] iy(k)=y(k+1)+ki*e(k-1) Δ T[ 左極限 ]. PID 大略說明. Kp- 調整量的多寡 Ki- 振幅大小 Kd- 產生對抗外力的力. 下周進度. 模擬有外力干擾的差分方程式. END.

lawrence-stephenson

Download Presentation

樂高機器人

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

樂高機器人
本周進度 • pid差分方程式運算 • 由pid調整經過差分方程式輸出波型模擬輸入波型
py(k)=e(k) • iy(k)=y(k+1)+ki*e(k)ΔT[右極限] • iy(k)=y(k+1)+ki*e(k-1)ΔT[左極限]

PID大略說明 • Kp-調整量的多寡 • Ki-振幅大小 • Kd-產生對抗外力的力
下周進度 • 模擬有外力干擾的差分方程式
END

More Related