ziegler.asv

PID控制器设计

function[Gc,Kp,Ti,Td]=ziegler(key,vars)
Kp=[];Ti=[];Td=[];
if length(vars)==3
    K=vars(1);L=vars(2);T=vars(3);
    a=K*L/T;
    if key==1
        Kp=1/a;
    elseif key==2
        Kp=0.9/a;Ti=3.3*L;
    elseif key===3
        Kp=1.2/a;Ti=2*L;;Td=L/2;
    end
elseif length(vars)==2
    K=vars(1);Tc=vars(2);
    if key==1
        Kp=0.5*K;
    elseif key==2
        Kp=0.4*K;Ti=0.8*Tc;
    elseif key===3
        Kp=0.6*K;Ti=0.5*Tc;;Td=0.12*Tc;
    end
end
switch key
    case 1,Gc=Kp;
    case 2,Gc=tf(Kp*[Ti,1],[Ti,0]);
    case 3
        nn=[1.1*Kp*Ti*Td，