chrpid.m

用MATLAB的脚本语言M语言编写的

function [Gc,Kp,Ti,Td,H]=chrpid(key,tt,vars)
K=vars(1); L=vars(2); T=vars(3); N=vars(4); 
a=K*L/T; ovshoot=vars(5); Ti=[]; Td=[];
if tt==1, TT=T; else TT=L; tt=2;  end
if ovshoot==0, 
   KK=[0.3,0.35,1.2,0.6, 1,  0.5;
       0.3,0.6, 4,  0.95,2.4,0.42];
else, 
   KK=[0.7,0.6,1,  0.95,1.4,0.47;
       0.7,0.7,2.3,1.2, 2,  0.42]; 
end
switch key
case 1, Kp=KK(tt,1)/a;
case 2
   Kp=KK(tt,2)/a; Ti=KK(tt,3)*TT; 
case {3,4}
   Kp=KK(tt,4)/a; Ti=KK(tt,5)*TT; 
   Td=KK(tt,6)*L; 
end   
[Gc,H]=writepid(Kp,Ti,Td,N,key);