网站建设开发软件教程,优化设计五年级下册数学答案,济南模板建站软件,建设网站八大员成绩查询1 原理讲解
距离上一次说PID算法的事情过去蛮久了#xff0c;今天又重新看了看PID的代码#xff0c;其实还是存在一些不合理的地方。 整理归纳了一下原理#xff0c;位置式和增量式的变化。
2 工程实现
timescale 1ns / 1psmodule pid_controller(input clk,input r…1 原理讲解
距离上一次说PID算法的事情过去蛮久了今天又重新看了看PID的代码其实还是存在一些不合理的地方。 整理归纳了一下原理位置式和增量式的变化。
2 工程实现
timescale 1ns / 1psmodule pid_controller(input clk,input rst_n,input [15:0] setpoint,input [15:0] feedback,input [15:0] Kp,input [15:0] Ki,input [15:0] Kd,input [15:0] clk_prescaler,output reg [15:0] control_signal
);// Internal signalsreg [15:0] prev_error 16h0000;reg [15:0] integral 32h00000000;reg [15:0] derivative 16h0000;// Clock divider for sampling ratereg [15:0] clk_divider 0;reg sampling_flag 0;always (posedge clk or negedge rst_n) begin//$display(Clock trigered);if (~rst_n)clk_divider 16h0000;else if (clk_divider clk_prescaler) begin // clk_prescaler determines the sampling rate, thus sampling rate would be clk freq/clk_prescalerclk_divider 16h0000;sampling_flag 1;end else beginclk_divider clk_divider 1;sampling_flag 0;endendalways (posedge clk or negedge rst_n) beginif (~rst_n) begin// Reset logic generally specific to applicationend else if (sampling_flag) begin// PID Calculationintegral integral (Ki * (setpoint - feedback));$display(Integral is %d,integral);derivative Kd * ((setpoint - feedback) - prev_error);// Calculate control signalcontrol_signal (Kp * (setpoint - feedback)) integral derivative; prev_error (setpoint - feedback);// Update previous error term to feed it for derrivative term.endendendmoduletestbench
timescale 1ns / 1psmodule pid_tb( );reg clk 0;reg rst_n 0;reg [15:0] setpoint 0;reg [15:0] feedback 0;reg [15:0] Kp 0;reg [15:0] Ki 0;reg [15:0] Kd 0;reg [15:0] clk_prescaler 0;wire [15:0] control_signal;pid_controller DUT(.clk(clk),.rst_n(rst_n),.setpoint(setpoint),.feedback(feedback),.Kp(Kp),.Ki(Ki),.Kd(Kd),.clk_prescaler(clk_prescaler),.control_signal(control_signal));initial beginrst_n 0; // Assert resetclk_prescaler 5; setpoint 20;Kp 5;Ki 2;Kd 1;#20 rst_n 1; // Deassert resetendalways #1 clk ~clk;always begin$monitor(Control signal is %d,control_signal);#20 feedback 1;#15 feedback 5;#15 feedback 8;#15 feedback 10; #15 feedback 13; #15 feedback 15; #15 feedback 16; #15 feedback 25; #25 $finish;endendmodule
