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📁 这是一个PID自动调节的程序
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<td valign=baseline bgcolor="#ffe4b0"><b>AutotunerPID Toolkit</b></td>
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<h1>stepPIDcompare</h1>

<h2><a name="_name"></a>PURPOSE <a href="#_top"><img alt="^" border="0" src="up.png"></a></h2>
<div class="box"><strong>STEPPIDCOMPARE  Comparison of step response on setpoint and load disturbance.</strong></div>

<h2><a name="_synopsis"></a>SYNOPSIS <a href="#_top"><img alt="^" border="0" src="up.png"></a></h2>
<div class="box"><strong>function stepPIDcompare(num,den,tau) </strong></div>

<h2><a name="_description"></a>DESCRIPTION <a href="#_top"><img alt="^" border="0" src="up.png"></a></h2>
<div class="fragment"><pre class="comment">STEPPIDCOMPARE  Comparison of step response on setpoint and load
   disturbance with different autotuning methods
   
   The function is typically called through the GUI in AutotunerPID.mdl
   and provides a graphical comparison of four different autotuning
   methods (STEP/ZN(OL), STEP/KT, STEP/IMC, RELAY/ZN(CL)) in time domain.
   The response to a step on the setpoint at time t = 0 and the response
   to a step at 2/3 of the final time are simulated.
   By default the parameter Ms is set to 2 in KT methods, while the
   parameter lambda is set 1/5 of the settling time of the plant.
   
   STEPPIDCOMPARE(NUM,DEN,TAU) performs the comparative analysis directly
   considering the plant described by the transfer function
              NUM(s)
      P(s) = -------- * exp(-TAU*s)
              DEN(s)

   See also BODEPID</pre></div>

<!-- crossreference -->
<h2><a name="_cross"></a>CROSS-REFERENCE INFORMATION <a href="#_top"><img alt="^" border="0" src="up.png"></a></h2>
This function calls:
<ul style="list-style-image:url(matlabicon.gif)">
<li><a href="idareas.html" class="code" title="function model = idareas(y,As,Ts)">idareas</a>	IDAREAS Identification of a FOPDT model using the method of the</li><li><a href="pid_tuning.html" class="code" title="function [K,Ti,Td,N,b] = pid_tuning(model,method,param,regStruct,As)">pid_tuning</a>	PID_TUNING Tune the parameters of a ISA-PID regulator with some</li></ul>
This function is called by:
<ul style="list-style-image:url(matlabicon.gif)">
<li><a href="envgui.html" class="code" title="function [sys,x0,str,ts] = envgui(t,x,u,flag,NoiseBlock,LoadDistBlock)">envgui</a>	ENVGUI S-function for making a simple PID GUI</li></ul>
<!-- crossreference -->


<h2><a name="_source"></a>SOURCE CODE <a href="#_top"><img alt="^" border="0" src="up.png"></a></h2>
<div class="fragment"><pre>0001 <a name="_sub0" href="#_subfunctions" class="code">function stepPIDcompare(num,den,tau)</a>
0002 <span class="comment">%STEPPIDCOMPARE  Comparison of step response on setpoint and load</span>
0003 <span class="comment">%   disturbance with different autotuning methods</span>
0004 <span class="comment">%</span>
0005 <span class="comment">%   The function is typically called through the GUI in AutotunerPID.mdl</span>
0006 <span class="comment">%   and provides a graphical comparison of four different autotuning</span>
0007 <span class="comment">%   methods (STEP/ZN(OL), STEP/KT, STEP/IMC, RELAY/ZN(CL)) in time domain.</span>
0008 <span class="comment">%   The response to a step on the setpoint at time t = 0 and the response</span>
0009 <span class="comment">%   to a step at 2/3 of the final time are simulated.</span>
0010 <span class="comment">%   By default the parameter Ms is set to 2 in KT methods, while the</span>
0011 <span class="comment">%   parameter lambda is set 1/5 of the settling time of the plant.</span>
0012 <span class="comment">%</span>
0013 <span class="comment">%   STEPPIDCOMPARE(NUM,DEN,TAU) performs the comparative analysis directly</span>
0014 <span class="comment">%   considering the plant described by the transfer function</span>
0015 <span class="comment">%              NUM(s)</span>
0016 <span class="comment">%      P(s) = -------- * exp(-TAU*s)</span>
0017 <span class="comment">%              DEN(s)</span>
0018 <span class="comment">%</span>
0019 <span class="comment">%   See also BODEPID</span>
0020 
0021 <span class="comment">%   Author:    William Spinelli (wspinell@elet.polimi.it)</span>
0022 <span class="comment">%   Copyright  2004 W.Spinelli</span>
0023 <span class="comment">%   $Revision: 1.0 $  $Date: 2004/02/27 12:00:00 $</span>
0024 
0025 <span class="keyword">global</span> PIDPARAMETERS
0026 
0027 <span class="comment">% compute step response</span>
0028 P = tf(num,den,<span class="string">'IODelay'</span>,tau);
0029 [y,t] = step(P);
0030 Ts = min(real(abs(pole(P))))/50;
0031 [y,t] = step(P,0:Ts:t(end));
0032 Tf = t(end);
0033 
0034 <span class="comment">% identify a FOPDT model</span>
0035 modelFOPDT = <a href="idareas.html" class="code" title="function model = idareas(y,As,Ts)">idareas</a>(y,1,Ts);
0036 
0037 <span class="comment">% identify the point of the frequency response with omega_n = -pi</span>
0038 [Gm,Pm,Wcg,Wcp] = margin(P);
0039 modelPI.A = 2/Gm;
0040 modelPI.T = 2*pi/Wcg;
0041 
0042 <span class="comment">% Set up the simulation environment</span>
0043 load_system(<span class="string">'steppidsupport'</span>)
0044 simhandle = <span class="string">'steppidsupport'</span>;
0045 set_param([simhandle <span class="string">'/Plant'</span>],<span class="string">'Numerator'</span>,[<span class="string">'['</span> num2str(num) <span class="string">']'</span>]);
0046 set_param([simhandle <span class="string">'/Plant'</span>],<span class="string">'Denominator'</span>,[<span class="string">'['</span> num2str(den) <span class="string">']'</span>]);
0047 set_param([simhandle <span class="string">'/PlantDelay'</span>],<span class="string">'DelayTime'</span>,num2str(tau));
0048 set_param([simhandle <span class="string">'/spWorkspace'</span>],<span class="string">'SampleTime'</span>,num2str(Ts));
0049 set_param([simhandle <span class="string">'/cvWorkspace'</span>],<span class="string">'SampleTime'</span>,num2str(Ts));
0050 set_param([simhandle <span class="string">'/pvWorkspace'</span>],<span class="string">'SampleTime'</span>,num2str(Ts));
0051 set_param([simhandle <span class="string">'/toutWorkspace'</span>],<span class="string">'SampleTime'</span>,num2str(Ts));
0052 set_param([simhandle <span class="string">'/ISA PID'</span>],<span class="string">'Ts'</span>,num2str(Ts));
0053 set_param(simhandle,<span class="string">'StopTime'</span>,num2str(2*Tf));
0054 
0055 set_param([simhandle <span class="string">'/SetPoint'</span>],<span class="string">'Time'</span>,num2str(0));
0056 set_param([simhandle <span class="string">'/SetPoint'</span>],<span class="string">'After'</span>,num2str(1));
0057 set_param([simhandle <span class="string">'/Disturbance'</span>],<span class="string">'Time'</span>,num2str(4/3*Tf));
0058 set_param([simhandle <span class="string">'/Disturbance'</span>],<span class="string">'After'</span>,num2str(0.1));
0059 
0060 figure(<span class="keyword">...</span>
0061    <span class="string">'Name'</span>,               <span class="string">'Step response'</span>,<span class="keyword">...</span>
0062    <span class="string">'NumberTitle'</span>,        <span class="string">'off'</span>);
0063 
0064 <span class="comment">% simulation of the step response with different autotuner</span>
0065 <span class="comment">% Ziegler &amp; Nichols with Step identification</span>
0066 [K,Ti,Td,N,b] = <a href="pid_tuning.html" class="code" title="function [K,Ti,Td,N,b] = pid_tuning(model,method,param,regStruct,As)">pid_tuning</a>(modelFOPDT,<span class="string">'ZN (OL)'</span>,[],<span class="string">'PID'</span>);
0067 PIDPARAMETERS = [K,Ti,Td,N,b];
0068 sim(<span class="string">'steppidsupport'</span>);
0069 subplot(211)
0070 plot(tout,pvVec,<span class="string">'b'</span>)
0071 set(gca,<span class="string">'XColor'</span>,[0.4 0.4 0.4],<span class="string">'YColor'</span>,[0.4 0.4 0.4],<span class="keyword">...</span>
0072    <span class="string">'FontSize'</span>,8)
0073 hold on
0074 subplot(212)
0075 plot(tout,cvVec,<span class="string">'b'</span>)
0076 set(gca,<span class="string">'XColor'</span>,[0.4 0.4 0.4],<span class="string">'YColor'</span>,[0.4 0.4 0.4],<span class="keyword">...</span>
0077    <span class="string">'FontSize'</span>,8)
0078 hold on
0079 
0080 <span class="comment">% Kappa-Tau with Ms = 2</span>
0081 <span class="comment">% in order to obtain better performance</span>
0082 [K,Ti,Td,N,b] = <a href="pid_tuning.html" class="code" title="function [K,Ti,Td,N,b] = pid_tuning(model,method,param,regStruct,As)">pid_tuning</a>(modelFOPDT,<span class="string">'KT'</span>,2,<span class="string">'PID'</span>);
0083 PIDPARAMETERS = [K,Ti,Td,N,b];
0084 sim(<span class="string">'steppidsupport'</span>);
0085 subplot(211)
0086 plot(tout,pvVec,<span class="string">'r'</span>)
0087 subplot(212)
0088 plot(tout,cvVec,<span class="string">'r'</span>)
0089 
0090 <span class="comment">% Internal Model Control with lambda = Tf/5</span>
0091 <span class="comment">% this means that the closed loop model is made five time faster than the</span>
0092 <span class="comment">% original (open loop model)</span>
0093 [K,Ti,Td,N,b] = <a href="pid_tuning.html" class="code" title="function [K,Ti,Td,N,b] = pid_tuning(model,method,param,regStruct,As)">pid_tuning</a>(modelFOPDT,<span class="string">'IMC'</span>,Tf/10,<span class="string">'PID'</span>);
0094 PIDPARAMETERS = [K,Ti,Td,N,b];
0095 sim(<span class="string">'steppidsupport'</span>);
0096 subplot(211)
0097 plot(tout,pvVec,<span class="string">'g'</span>)
0098 subplot(212)
0099 plot(tout,cvVec,<span class="string">'g'</span>)
0100 
0101 <span class="comment">% Ziegler &amp; Nichols with Relay identification</span>
0102 [K,Ti,Td,N,b] = <a href="pid_tuning.html" class="code" title="function [K,Ti,Td,N,b] = pid_tuning(model,method,param,regStruct,As)">pid_tuning</a>(modelPI,<span class="string">'ZN (CL)'</span>,[],<span class="string">'PID'</span>);
0103 PIDPARAMETERS = [K,Ti,Td,N,b];
0104 sim(<span class="string">'steppidsupport'</span>);
0105 subplot(211)
0106 plot(tout,pvVec,<span class="string">'m'</span>,tout,spVec,<span class="string">'k:'</span>)
0107 title(<span class="string">'Step and Load Disturbance Response'</span>,<span class="keyword">...</span>
0108    <span class="string">'Color'</span>,[0 0 0],<span class="string">'FontSize'</span>,8)
0109 ylabel(<span class="string">'Process Value'</span>,<span class="keyword">...</span>
0110    <span class="string">'Color'</span>,[0 0 0],<span class="string">'FontSize'</span>,8)
0111 legend(<span class="string">'STEP + ZN(OL)'</span>,<span class="string">'STEP + KT'</span>,<span class="string">'STEP + IMC'</span>,<span class="string">'RELAY + ZN(CL)'</span>,4)
0112 subplot(212)
0113 plot(tout,cvVec,<span class="string">'m'</span>)
0114 xlabel(<span class="string">'Time [sec]'</span>,<span class="keyword">...</span>
0115    <span class="string">'Color'</span>,[0 0 0],<span class="string">'FontSize'</span>,8)
0116 ylabel(<span class="string">'Control Variable'</span>,<span class="keyword">...</span>
0117    <span class="string">'Color'</span>,[0 0 0],<span class="string">'FontSize'</span>,8)</pre></div>
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