getpid1.m

PID控制器设计

function [Gc,Kp,Ti,Td]=getPID1(key,vars)
K=vars(1);L=vars(2);T=vars(3);
PIDtab=[1.048,1.042,0.968,1.154,1.142,1.061;
        -0.897,-0.897,-0.904,-0.567,-0.579,-0.583;
        1.195,0.987,0.977,1.047,0.919,0.892;
        -0.368,-0.238,-0.253,-0.220,-0.172,-0.165;
        0.489,0.385,0.316,0.490,0.384,0.315;
        0.888,0.906,0.892,0.708,0.839,0.832];
 ii=0;
 if(L/T>1) ii=3; end;
 tt=L/T;
 a1=PIDtab(1,ii+key); b1=PIDtab(2,ii+key);
 a2=PIDtab(3,ii+key); b2=PIDtab(4,ii+key);
 a3=PIDtab(5,ii+key); b3=PIDtab(6,ii+key);
 Kp=a1/K*tt^b1;
 Ti=T/(a2+b2^tt);
 Td=a3*T*tt^b3;
  nn=[1.1*Kp*Ti*Td,Kp*(Ti+0.1*Td),Kp];
  dd=Ti*[0.1*Td,1,0];
  Gc=tf(nn,dd);