pid_dmc2.m

动态矩阵控制算法与PID算法结合,有很强的理论性,是毕业设计的好程序

%二阶PID-DMC算法控制：
v1=[1 1 1 1 1 0.8 0.7 0.6];
 Q=zeros(8,8);
 Q=diag(v1);
 v2=[1 1];
 R=zeros(2,2);
 R=diag(v2);
 a=[0.4283;5.1795;4.3490;3.9966;4.2466;4.2186;4.1985;4.2107;4.2074;4.2081];
 h=zeros(8,1);
h(:,:)=0.5;
m=2;
p=8;
g=poly2tfd(1,[0.06,0.55,1],0,0.76);
plant=tfd2step(100,2,1,g);
y=plant;
w=zeros(8,1);
w(:,:)=1;
bta=0.5;
for i=1:p
    A(i:p,i)=a(1:p+1-i);
end
A=A(:,1:m);                                       % dynamic matrix
c=zeros(m,1);
c(1)=1;
d=c'*(inv(A'*Q*A+R))*A'*Q;                         % according to formula
N=length(y);
NorU=0;                                             % the initialization of control parameter
 for i=1:p
        %Y0(i,:)=y(1);                                % forcast initialization
 Y0(i,:)=0;
 end
 
 %ts=0.5;
 ts=0.2;
%sys=tf(400,[1,50,0]);
%sys=tf(1,[0.4,1],'inputdelay',0.76);
sys=tf(1,[0.06,0.55,1],'inputdelay',0.76);
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;y_2=0;y_3=0;
u_1=0.0;u_2=0.0;
y_1=0;y_2=0;
x=[0,0,0]';
error=0;
error_1=0;
error_2=0;
for k=1:1:50
time(k)=k*ts;
rin(k)=1.0;
kp1=0.22;
T=5;Ti=35.0;Td=2.5;
kp=kp1*(1+2*Td/T);kd=kp1*(Td/T);ki=kp1*(1+T/Ti+Td/T);
%du(k)=kp*((1+T/Ti+Td/T)*error-(1+2*Td/T)*error_1+(Td/T)*error_2);
du(k)=kp*x(1)+kd*x(2)+ki*x(3);
u(k)=u_1+du(k);
if u(k)>=10
u(k)=10;
end
if u(k)<=-10
u(k)=-10;
end
%yout(k)=-den(2)*y_1-den(3)*y_2+num(2)*u_1+num(3)*u_2;
%yout(k)=-den(2)*y_1+num(2)*u_2+num(3)*u_3;
yout(k)=-den(2)*y_1+num(2)*u_2;
for j=1:p
      
       IncreU=d*(w-Y0);
        NorU=NorU+IncreU;
       i=1:p;
        
       Y1=Y0+a(i)*IncreU;
       %yr=bta*Y1+(1-bta)*w;
        Y(j)=Y1(j);
     
         e=y(k)-Y1(1);
      
         Ycer=Y1+h*e;
         Y0=Ycer;   
end
    YY1(k)=Y(1);
error=rin(k)-YY1(k);
%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-error_1; %Calculating P
x(2)=error-2*error_1+error_2; %Calculating D
x(3)=error; %Calculating I

error_2=error_1;
error_1=error;
end
t=1:50;
plot(t,rin,'b',t,YY1,'r');
axis([0 50 0 1.2]);
xlabel('time(s)');ylabel('Y');
title('二阶PID-DMC算法控制');