pid-control

It is matching algrithm using kmeans. Kmeans is a classification method.(It is matching algrithm using kmeans. Kmeans is a classification method. )

仿真过程中，将改进算法那与经典算法进行比较，通过对仿真数据如系统时延、系统丢包概率以及系统吞吐量的比较分析，评估改进算法的正确性和性能。(Simulation process, the improved algorithm that compares with the classical algorithm, through the simulation data system latency, packet loss probability of the system as well as a comparative analysis system throughput, improved assessment of the correctness and performance of the algorithm.)

计时器,实现时钟计时(reckon by time)

AT91SAM9263的Keil下的CAN总线的例程文件(AT91SAM9263 under the CAN bus of the Keil routine document)

针对多电机同步控制中传统环形耦合 PID 控制存在抗扰动性不强 扰动下同步误差较大等问题， 提出了一种带前馈控制的滑模变结构多电机相邻耦合控制策略， 建立了3 台永磁同步电动机同步控制仿真模 型， 通过 Lyapunov 稳定性理论证明了滑模控制算法的稳定性， 并进行了交变负载 突变负载实验 仿真分析和 实验结果表明， 该控制策略相比传统环形耦合 PID 控制 相邻耦合 PID 控制具有更高的同步精度和更好的抗扰 动性能(Abstract: Aiming at the problem of poor anti-disturbance capability and big synchronization error under disturbance of traditional ring-couple PID control method in multi-axis synchronization control，a sliding mode variable structure with feed-forward control for relative coupling control strategy is proposed． Three Permanent Magnet Synchronous Motor ( PMSM) for synchronized control simulation modl is set up． The stability of the proposed control algorithm is proved according to Lyapunov stability theory． The control strategy is tested by alternating load，and mutant load experiment． Simulation analysis and experimental results show that the presented control strategy has higher synchronization accuracy and better anti-disturbance capability in camparison with the traditional ring-couple PID control and relative-couple PID control．)

AVRstudio和winavr的联用，多个文档，对于刚刚入门的单片机爱好者们非常有用。(AVRstudio and winavr hyphenated, multiple documents, for just getting started microcontroller enthusiasts very useful.)

STM32F405 CAN程序，亲测可用(forSTM32F405 project itis OK)

深圳固高科技的运动控制卡设置软件源代码,C++ 编写,目前正在现场使用(Googol control card)

数字电子钟，单片机控制，可以设置时间，并且进行时钟计时(Digital electronic clock, microprocessor control, you can set the time and the clock time)

C语言编程，4X4键盘扫描程序，可以直接使用到51单片机中(C language programming, 4X4 keyboard scanner can be used directly in the 51 SCM)