pid_co_tune.m

控制系统计算机辅助设计——MATLAB语言与应用(源代码）

function [Kp,Ti,Td,key,lb]=pid_co_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 1
        switch key2
            case 4
                if L/T<=1
                    Kp=0.5*(T^3+T^2*L+0.5*T*L^2+0.167*L^3)/(K*(T^2*L+T*L^2+0.667*L^3));
                    Ti=(T^3+T^2*L+0.5*T*L^2+0.167*L^3)/(T^3+T*L+0.5*L^2);
                    key=1;
                else
                    Kp=0.5*T/(K*L);Ti=T;
                    key=1;
                end
        end
end