motor_5_3.m

来自「用matlab实现motor运动控制的控制器设计仿真」· M 代码 · 共 27 行

%PID  arithmetic 

s=tf('s');
G=0.1/(0.1*s^2+1.2*s+1);             %Model changed
t=[0:0.01:30];

Kc=100;                              %Standard PID
Ti=0.5;
Td=0.1;
Gc=Kc*(1+1/(Ti*s))*(Td*s+1);
sys=G*Gc/(1+G*Gc);
y=step(sys,t);
plot(t,y);
hold on;
xlabel('t');
ylabel('y');
title('PID controller After the model changes a little');

Ts=0.01;                                %Improved PID
Ki=Kc*Ts/Ti;
Kd=Kc*Td/Ts;
Gc1=Kc*(1+1/(Ti*s));
Gc2=(Td*s+1)/(Td/Kd+1);
sys=G*Gc1/(1+G*Gc1*Gc2);        
y=step(sys,t);
plot(t,y,'r');
Legend('StandardPID','ImprovedPID',2);