pid_hwf_tune.m

很优良的PID控制器设计仿真程序与模型,经过严格检验

function [Kp,Ti,Td,key,lb]=pid_hwf_tune(G,key1,key2,vars) 
key=0; Kp=[]; Ti=[]; Td=[]; lb=[];
K=vars(1); L=vars(2); T=vars(3); id=vars(4);
[Gm,Pm,Wcg,Wcp]=margin(G);
Ku=1/abs(Gm);
Tu=2*3.1416/Wcg;
switch key1
    case 1
        switch key2
            case 6
                switch id
                    case 1
                        if L/T<0.1
                            Kp=Ku*(0.438-0.110*L/T+0.0376*(L/T)^2);
                            Ti=Kp/(Ku*Wcg)/(0.0388+0.108*L/T-0.0154*(L/T)^2);
                            key=3;lb=0.1;
                        elseif L/T>2.0
                            Kp=Ku*(0.438-0.110*L/T+0.0376*(L/T)^2);
                            Ti=Kp/(Ku*Wcg)/(0.0388+0.108*L/T-0.0154*(L/T)^2);
                            key=2;lb=2.0;
                        else
                            Kp=Ku*(0.438-0.110*L/T+0.0376*(L/T)^2);
                            Ti=Kp/(Ku*Wcg)/(0.0388+0.108*L/T-0.0154*(L/T)^2);
                            key=1;
                        end
                    case 2
                        if L/T<0.1
                            Kp=Ku*(0.515-0.0521*L/T+0.0254*(L/T)^2);
                            Ti=Kp/(Ku*Wcg)/(0.0877+0.0918*L/T-0.0141*(L/T)^2);
                            key=3;lb=0.1;
                        elseif L/T>2.0
                            Kp=Ku*(0.515-0.0521*L/T+0.0254*(L/T)^2);
                            Ti=Kp/(Ku*Wcg)/(0.0877+0.0918*L/T-0.0141*(L/T)^2);
                            key=2;lb=2.0;
                        else
                            Kp=Ku*(0.515-0.0521*L/T+0.0254*(L/T)^2);
                            Ti=Kp/(Ku*Wcg)/(0.0877+0.0918*L/T-0.0141*(L/T)^2);
                            key=1;
                        end
                    case 3
                        if L/T<0.1
                            Kp=Ku*(0.46-0.0835*L/T+0.0305*(L/T)^2);
                            Ti=Kp/(Ku*Wcg)/(0.0644+0.0759*L/T-0.0111*(L/T)^2);
                            key=3;lb=0.1;
                        elseif L/T>2.0
                            Kp=Ku*(0.46-0.0835*L/T+0.0305*(L/T)^2);
                            Ti=Kp/(Ku*Wcg)/(0.0644+0.0759*L/T-0.0111*(L/T)^2);
                            key=2;lb=2.0;
                        else
                            Kp=Ku*(0.46-0.0835*L/T+0.0305*(L/T)^2);
                            Ti=Kp/(Ku*Wcg)/(0.0644+0.0759*L/T-0.0111*(L/T)^2);
                            key=1;
                        end
                end
        end
    case 2
        switch key2
            case 6
                switch id
                    case 1
                        if L/T<0.1
                            c1=0.537;c2=-0.0165;c3=0.00173;c4=0.0503;c5=0.163;c6=-0.0389;c7=0.350;c8=-0.0344;c9=0.00644;
                            Kp=Ku*(c1+c2*L/T+c3*(L/T)^2);Ti=Kp/(Ku*Wcg*(c4+c5*L/T+c6*(L/T)^2));Td=Ku*(c7+c8*L/T+c9*(L/T)^2)/(Kp*Wcg);
                            key=3;lb=0.1;
                        elseif L/T>2.0
                            c1=0.537;c2=-0.0165;c3=0.00173;c4=0.0503;c5=0.163;c6=-0.0389;c7=0.350;c8=-0.0344;c9=0.00644;
                            Kp=Ku*(c1+c2*L/T+c3*(L/T)^2);Ti=Kp/(Ku*Wcg*(c4+c5*L/T+c6*(L/T)^2));Td=Ku*(c7+c8*L/T+c9*(L/T)^2)/(Kp*Wcg);
                            key=2;lb=2.0;
                        else
                            c1=0.537;c2=-0.0165;c3=0.00173;c4=0.0503;c5=0.163;c6=-0.0389;c7=0.350;c8=-0.0344;c9=0.00644;
                            Kp=Ku*(c1+c2*L/T+c3*(L/T)^2);Ti=Kp/(Ku*Wcg*(c4+c5*L/T+c6*(L/T)^2));Td=Ku*(c7+c8*L/T+c9*(L/T)^2)/(Kp*Wcg);
                            key=1;
                        end
                    case 2
                        if L/T<0.1
                            c1=0.802;c2=-0.154;c3=0.0460;c4=0.149;c5=0.0556;c6=-0.00566;c7=0.371;c8=-0.0274;c9=0.00557;
                            Kp=Ku*(c1+c2*L/T+c3*(L/T)^2);Ti=Kp/(Ku*Wcg*(c4+c5*L/T+c6*(L/T)^2));Td=Ku*(c7+c8*L/T+c9*(L/T)^2)/(Kp*Wcg);
                            key=3;lb=0.1;
                        elseif L/T>2.0
                            c1=0.802;c2=-0.154;c3=0.0460;c4=0.149;c5=0.0556;c6=-0.00566;c7=0.371;c8=-0.0274;c9=0.00557;
                            Kp=Ku*(c1+c2*L/T+c3*(L/T)^2);Ti=Kp/(Ku*Wcg*(c4+c5*L/T+c6*(L/T)^2));Td=Ku*(c7+c8*L/T+c9*(L/T)^2)/(Kp*Wcg);
                            key=2;lb=2.0;
                        else
                            c1=0.802;c2=-0.154;c3=0.0460;c4=0.149;c5=0.0556;c6=-0.00566;c7=0.371;c8=-0.0274;c9=0.00557;
                            Kp=Ku*(c1+c2*L/T+c3*(L/T)^2);Ti=Kp/(Ku*Wcg*(c4+c5*L/T+c6*(L/T)^2));Td=Ku*(c7+c8*L/T+c9*(L/T)^2)/(Kp*Wcg);
                            key=1;
                        end
                    case 3
                        if L/T<0.1
                            c1=0.713;c2=-0.176;c3=0.0513;c4=0.149;c5=0.0556;c6=-0.00566;c7=0.371;c8=-0.0274;c9=0.00557;
                            Kp=Ku*(c1+c2*L/T+c3*(L/T)^2);Ti=Kp/(Ku*Wcg*(c4+c5*L/T+c6*(L/T)^2));Td=Ku*(c7+c8*L/T+c9*(L/T)^2)/(Kp*Wcg);
                            key=3;lb=0.1;
                        elseif L/T>2.0
                            c1=0.713;c2=-0.176;c3=0.0513;c4=0.149;c5=0.0556;c6=-0.00566;c7=0.371;c8=-0.0274;c9=0.00557;
                            Kp=Ku*(c1+c2*L/T+c3*(L/T)^2);Ti=Kp/(Ku*Wcg*(c4+c5*L/T+c6*(L/T)^2));Td=Ku*(c7+c8*L/T+c9*(L/T)^2)/(Kp*Wcg);
                            key=2;lb=2.0;
                        else
                            c1=0.713;c2=-0.176;c3=0.0513;c4=0.149;c5=0.0556;c6=-0.00566;c7=0.371;c8=-0.0274;c9=0.00557;
                            Kp=Ku*(c1+c2*L/T+c3*(L/T)^2);Ti=Kp/(Ku*Wcg*(c4+c5*L/T+c6*(L/T)^2));Td=Ku*(c7+c8*L/T+c9*(L/T)^2)/(Kp*Wcg);
                            key=1;
                        end
                end
        end
end