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[/] [pid_controler/] [trunk/] [pid_controller.vhd] - Diff between revs 3 and 4
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-------------------------------------------------------------------------------
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-------------------------------------------------------------------------------
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-- File : pid_controller.vhd
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-- File : pid_controller.vhd
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-- Author : Tomasz Turek <tomasz.turek@gmail.com>
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-- Author : Tomasz Turek <tomasz.turek@gmail.com>
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-- Company : SzuWar ZOO
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-- Company : SzuWar ZOO
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-- Created : 12:56:06 20-07-2010
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-- Created : 12:56:06 20-07-2010
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-- Last update: 21:00:09 06-10-2010
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-- Last update: 23:01:16 07-10-2010
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-- Platform : Xilinx ISE 10.1.03
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-- Platform : Xilinx ISE 10.1.03
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-- Standard : VHDL'93/02
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-- Standard : VHDL'93/02
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-------------------------------------------------------------------------------
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-------------------------------------------------------------------------------
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-- Description:
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-- Description:
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-- PID CONTROLLER
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-- PID CONTROLLER
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-- | | -iDelayD | | |
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-- | | -iDelayD | | |
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-- | |--| Z |<--| | |
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-- | |--| Z |<--| | |
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-- | | |___________| | | |
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-- | | |___________| | | |
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-- | | ___ | | |
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-- | | ___ | | |
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-- | | | | | | | _________
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-- | | | | | | | _________
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-- _______ ___________ | ___________ |------->| + | | | | | |
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-- _______ ___________ | ___________ |------->| - | | | | | |
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-- | | | | | | | | |-----|-->| + |-->| correct |
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-- | | | | | | | | |-----|-->| + |-->| correct |
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-- | error |-->| KM Gain |--|-->| KD Gain |---------->| + | | | |_________|
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-- | error |-->| KM Gain |--|-->| KD Gain |---------->| + | | | |_________|
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-- |_______| |___________| | |___________| |___| | |
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-- |_______| |___________| | |___________| |___| | |
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-- | | |
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-- | | |
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-- | ____ | |
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-- | ____ | |
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