pid-control

pads 布等长线 (cloth pads and other long-term)

STM32的ADC程序，亲测可用。内有详细注释和说明文档，很好的参考资料。(STM32 ADC program, pro - test available. There are detailed notes and documentation, good references.)

USB2.0原理与工程开发光盘 欢迎下载(The USB2.0 principles and engineering development of CD-ROM Download)

智能小车寻黑线测试程序，经典资料！电子设计大赛 小车(Smart car found black line test program, the classic material! )

STM32的窗口看门狗程序，亲测可用。内有详细注释和说明文档，很好的参考资料。(STM32 window guard dog program, pro test available. There are detailed notes and documentation, good references.)

实用CAN与上位机通讯例程，适用于基于CAN总线的自动系统参考。(Practical CAN and PC communication routines for automated reference system based on CAN bus.)

超声波测距（5 28线性处理）,测量线性度很高(Ultrasonic Ranging (528 linear processing), high linearity measurements)

430与串口和定时器的详细例程，可在链接da或ad时调用(430 link da or ad with serial timer routine, call)

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．)

parallel quicksort algorithm and implimentation