moto_data2.m

书籍代码:遗传演算法原理与应用_活用MATLAB(Source Code)

% Design Data for Motorola 16-bit DSP
% Servo Control Design Example. 
% Use with motorolb.mdl.
% moto_data2.m

% Motor data
Ke=70.61e-3; Tm=6.2e-3; Te=1.62e-3;
% DSP 
Ts=488e-6;Tc=30e-6;
% Original PID controller
Kp=0.16; Ki=5; Kd=1e-3;
K1=0.1875; K2=636.62;
L1=2.5;L2=5;
% After GA search, we found
%Kp=0.0597; Ki=1.2421; Kd=0.0006; L1=1242;L2=0.0006;
a=Ts*Ki; b=-Kd/2/Ts;

% Plant
num=1/Ke; den=conv([Tm 1 0],[Te 1]);
plant=tf(num,den);
num=num/den(1); den=den/den(1);
K=num;a1=den(2); a2=den(3);
disp('Plant TF:');
plant=tf(K1*K2*num,den)
disp('>>>Initilization complete!');