mysfunction2_pid.m

控制电机程序

function [sys,x0,str,ts]=mySfunction2_PID(t,x,u,flag,Kp,Ki,Kd,L_upper,L_lower,T_samp)
%说明：此PID对积分项做了限幅，并没有对输出作限幅
switch flag
    case 0
        [sys,x0,str,ts]=mdlInitializeSizes(T_samp);
    case 1
        sys=mdlDerivatives(t,x,u);
    case 2
        sys=mdlUpdate(t,x,u,L_upper,L_lower,T_samp);
    case 3
        sys=mdlOutputs(t,x,u,Kp,Ki,Kd,T_samp);
    case 4
        sys=mdlGetTimeOfNextVarHit(t,x,u);
    case 9
        sys=mdlTerminate(t,x,u);
    otherwise
        error(['Unhandle flag =',num2str(flag)]);
end
%-------------------------------------------------------------------------------------------%
function [sys,x0,str,ts]=mdlInitializeSizes(T_samp)
sizes=simsizes;
sizes.NumContStates=0;
sizes.NumDiscStates=1;
sizes.NumOutputs   =1;
sizes.NumInputs    =1;
sizes.DirFeedthrough=1;
sizes.NumSampleTimes=1;
sys=simsizes(sizes);
x0=[0];
str=[];
ts=[T_samp 0];
set_param(gcb,'UserData',0);
%-------------------------------------------------------------------------------------------%
function sys=mdlDerivatives(t,x,u)
sys=[];
%-------------------------------------------------------------------------------------------%
%说明：此处只对积分项做了限幅，并没有对输出作限幅
function sys=mdlUpdate(t,x,u,L_upper,L_lower,T_samp)
x_new=[x(1)+T_samp*u(1)];
if x_new>=L_upper
    x_new=L_upper;
elseif x_new<=L_lower
        x_new=L_upper;
end
sys=x_new;
%-------------------------------------------------------------------------------------------%
function sys=mdlOutputs(t,x,u,Kp,Ki,Kd,T_samp)
u_prev=get_param(gcb,'UserData');
set_param(gcb,'UserData',u(1));
u_deriv=(u(1)-u_prev)/T_samp;
sys=Kp*u(1)+Ki*x(1)+Kd*u_deriv;
%-------------------------------------------------------------------------------------------%
function sys=mdlGetTimeOfNextVarHit(t,x,u)
sys=[];
%-------------------------------------------------------------------------------------------%
function sys=mdlTerminate(t,x,u)
sys=[];