pid_wa_tune.m

来自「控制系统计算机辅助设计——MATLAB语言与应用(源代码）」· M 代码 · 共 27 行

function [Kp,Ti,Td,key,lb]=pid_wa_tune(key1,key2,vars)  
key=0; Kp=[]; Ti=[]; Td=[]; lb=[];
K=vars(1); L=vars(2); T=vars(3);id=vars(4);
switch key1
    case 2
        switch key2
            case 3
               switch id
                     case 1
                         Kp=(0.7645+0.6032*T/L)*(T+0.5*L)/(K*(T+L));Ti=T+0.5*L;Td=0.5*T*L/(T+0.5*L);
                           
                    case 2
                         Kp=(0.9155+0.7524*T/L)*(T+0.5*L)/(K*(T+L));Ti=T+0.5*L;Td=0.5*T*L/(T+0.5*L);
                           
                    case 3
                         Kp=(0.7303+0.5307*T/L)*(T+0.5*L)/(K*(T+L));Ti=T+0.5*L;Td=0.5*T*L/(T+0.5*L);
                            
                end
                if L/T<=0.05
                    key=3;lb=0.05;
                elseif L/T>=6
                    key=2;lb=6;
                else
                    key=1;
                end
        end
end