chap1_4.m

来自「普通的pid控制数字化」· M 代码 · 共 61 行

%PID Controller
clear all;
close all;

ts=0.01;
%sys=tf(5.235e005,[1,87.35,1.047e004,0]);
sys=tf(1,[0,1,3,2]);
dsys=c2d(sys,ts,'z');
[num,den]=tfdata(dsys,'v');

u_1=0.0;u_2=0.0;u_3=0.0;
y_1=0.0;y_2=0.0;y_3=0.0;
x=[0,0,0]';
error_1=0;
for k=1:1:6000
time(k)=k*ts;
   
S=3;
if S==1
    %kp=0.50;ki=0.001;kd=0.001; 
    %kp=0.386;ki=0.0684;kd=0.0101; 
    kp=1;ki=1.5;kd=2;
    rin(k)=1;                       %Step Signal
elseif S==2
    kp=0.50;ki=0.001;kd=0.001;          
   % rin(k)=sign(sin(2*2*pi*k*ts));  %Square Wave Signal
   rin(k)=sin(2*2*pi*k*ts);
  
elseif S==3
    kp=60;ki=20.0;kd=5;          %Sine Signal
    rin(k)=0.5*sin(2*pi*k*ts);           
end

u(k)=kp*x(1)+kd*x(2)+ki*x(3);   %PID Controller
%Restricting the output of controller
if u(k)>=10       
   u(k)=10;
end
if u(k)<=-10
   u(k)=-10;
end
%Linear model
%yout(k)=-den(2)*y_1-den(3)*y_2-den(4)*y_3+num(2)*u_1+num(3)*u_2+num(4)*u_3;
yout(k)=-den(2)*y_1-den(3)*y_2+num(2)*u_1+num(3)*u_2;
%a(k)=1.2*(1-0.8*exp(-0.1*k));
%yout(k)=a(k)*y_1/(1+y_1^2)+u_1;
error(k)=rin(k)-yout(k);

%Return of parameters
u_3=u_2;u_2=u_1;u_1=u(k);
y_3=y_2;y_2=y_1;y_1=yout(k);
   
x(1)=error(k);                %Calculating P
x(2)=(error(k)-error_1)/ts;   %Calculating D
x(3)=x(3)+error(k)*ts;        %Calculating I

error_1=error(k);
end
figure(1);
plot(time,rin,'b',time,yout,'r');
xlabel('time(s)'),ylabel('rin,yout');