pid_hw_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_hw_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
                            u1=1.14*(1-0.482*Wcg*L+0.068*(Wcg)^2*L^2)*(1+Ku*K)/(Ku*K);Kp=(1-u1)*Ku;
                            u2=0.069*(-1+2.1*Wcg*L-0.367*(Wcg)^2*L^2)*(1+Ku*K)/(Ku*K);Ti=Kp/(u2*Ku*Wcg);
                            key=3;lb=0.1;
                        elseif L/T>2.0
                            u1=1.14*(1-0.482*Wcg*L+0.068*(Wcg)^2*L^2)*(1+Ku*K)/(Ku*K);Kp=(1-u1)*Ku;
                            u2=0.069*(-1+2.1*Wcg*L-0.367*(Wcg)^2*L^2)*(1+Ku*K)/(Ku*K);Ti=Kp/(u2*Ku*Wcg);
                            key=2;lb=2.0;
                        else
                            u1=1.14*(1-0.482*Wcg*L+0.068*(Wcg)^2*L^2)*(1+Ku*K)/(Ku*K);Kp=(1-u1)*Ku;
                            u2=0.069*(-1+2.1*Wcg*L-0.367*(Wcg)^2*L^2)*(1+Ku*K)/(Ku*K);Ti=Kp/(u2*Ku*Wcg);
                            key=1;
                        end
                    case 2
                        if L/T<0.1
                            u1=1.09*(1-0.497*Wcg*L+0.0724*(Wcg)^2*L^2)*(1+Ku*K)/(Ku*K);Kp=(1-u1)*Ku;
                            u2=0.054*(-1+2.54*Wcg*L-0.457*(Wcg)^2*L^2)*(1+Ku*K)/(Ku*K);Ti=Kp/(u2*Ku*Wcg);
                            key=3;lb=0.1;
                        elseif L/T>2.0
                            u1=1.09*(1-0.497*Wcg*L+0.0724*(Wcg)^2*L^2)*(1+Ku*K)/(Ku*K);Kp=(1-u1)*Ku;
                            u2=0.054*(-1+2.54*Wcg*L-0.457*(Wcg)^2*L^2)*(1+Ku*K)/(Ku*K);Ti=Kp/(u2*Ku*Wcg);
                            key=2;lb=2.0;
                        else
                            u1=1.09*(1-0.497*Wcg*L+0.0724*(Wcg)^2*L^2)*(1+Ku*K)/(Ku*K);Kp=(1-u1)*Ku;
                            u2=0.054*(-1+2.54*Wcg*L-0.457*(Wcg)^2*L^2)*(1+Ku*K)/(Ku*K);Ti=Kp/(u2*Ku*Wcg);
                            key=1;
                        end
                    case 3
                        if L/T<0.1
                            u1=1.03*(1-0.51*Wcg*L+0.0759*(Wcg)^2*L^2)*(1+Ku*K)/(Ku*K);Kp=(1-u1)*Ku;
                            u2=0.0386*(-1+3.26*Wcg*L-0.6*(Wcg)^2*L^2)*(1+Ku*K)/(Ku*K);Ti=Kp/(u2*Ku*Wcg);
                            key=3;lb=0.1;
                        elseif L/T>2.0
                            u1=1.03*(1-0.51*Wcg*L+0.0759*(Wcg)^2*L^2)*(1+Ku*K)/(Ku*K);Kp=(1-u1)*Ku;
                            u2=0.0386*(-1+3.26*Wcg*L-0.6*(Wcg)^2*L^2)*(1+Ku*K)/(Ku*K);Ti=Kp/(u2*Ku*Wcg);
                            key=2;lb=2.0;
                        else
                            u1=1.03*(1-0.51*Wcg*L+0.0759*(Wcg)^2*L^2)*(1+Ku*K)/(Ku*K);Kp=(1-u1)*Ku;
                            u2=0.0386*(-1+3.26*Wcg*L-0.6*(Wcg)^2*L^2)*(1+Ku*K)/(Ku*K);Ti=Kp/(u2*Ku*Wcg);
                            key=1;
                        end
                    case 4
                        if L/T<0.1
                            u1=1.07*(1-0.466*Wcg*L+0.0667*(Wcg)^2*L^2)*(1+Ku*K)/(Ku*K);Kp=(1-u1)*Ku;
                            u2=0.0328*(-1+2.21*Wcg*L-0.338*(Wcg)^2*L^2)*(1+Ku*K)/(Ku*K);Ti=Kp/(u2*Ku*Wcg);
                            key=3;lb=0.1;
                        elseif L/T>2.0
                            u1=1.07*(1-0.466*Wcg*L+0.0667*(Wcg)^2*L^2)*(1+Ku*K)/(Ku*K);Kp=(1-u1)*Ku;
                            u2=0.0328*(-1+2.21*Wcg*L-0.338*(Wcg)^2*L^2)*(1+Ku*K)/(Ku*K);Ti=Kp/(u2*Ku*Wcg);
                            key=2;lb=2.0;
                        else
                            u1=1.07*(1-0.466*Wcg*L+0.0667*(Wcg)^2*L^2)*(1+Ku*K)/(Ku*K);Kp=(1-u1)*Ku;
                            u2=0.0328*(-1+2.21*Wcg*L-0.338*(Wcg)^2*L^2)*(1+Ku*K)/(Ku*K);Ti=Kp/(u2*Ku*Wcg);
                            key=1;
                        end
                    case 5
                        if L/T<0.1
                            u1=1.11*(1-0.467*Wcg*L+0.0657*(Wcg)^2*L^2)*(1+Ku*K)/(Ku*K);Kp=(1-u1)*Ku;
                            u2=0.0477*(-1+2.07*Wcg*L-0.333*(Wcg)^2*L^2)*(1+Ku*K)/(Ku*K);Ti=Kp/(u2*Ku*Wcg);
                            key=3;lb=0.1;
                        elseif L/T>2.0
                            u1=1.11*(1-0.467*Wcg*L+0.0657*(Wcg)^2*L^2)*(1+Ku*K)/(Ku*K);Kp=(1-u1)*Ku;
                            u2=0.0477*(-1+2.07*Wcg*L-0.333*(Wcg)^2*L^2)*(1+Ku*K)/(Ku*K);Ti=Kp/(u2*Ku*Wcg);
                            key=2;lb=2.0;
                        else 
                            u1=1.11*(1-0.467*Wcg*L+0.0657*(Wcg)^2*L^2)*(1+Ku*K)/(Ku*K);Kp=(1-u1)*Ku;
                            u2=0.0477*(-1+2.07*Wcg*L-0.333*(Wcg)^2*L^2)*(1+Ku*K)/(Ku*K);Ti=Kp/(u2*Ku*Wcg);
                            key=1;
                        end
                    case 6
                        if L/T<0.1
                            u1=1.14*(1-0.466*Wcg*L+0.0647*(Wcg)^2*L^2)*(1+Ku*K)/(Ku*K);Kp=(1-u1)*Ku;
                            u2=0.0609*(-1+1.97*Wcg*L-0.323*(Wcg)^2*L^2)*(1+Ku*K)/(Ku*K);Ti=Kp/(u2*Ku*Wcg);
                            key=3;lb=0.1;
                        elseif L/T>2.0
                            u1=1.14*(1-0.466*Wcg*L+0.0647*(Wcg)^2*L^2)*(1+Ku*K)/(Ku*K);Kp=(1-u1)*Ku;
                            u2=0.0609*(-1+1.97*Wcg*L-0.323*(Wcg)^2*L^2)*(1+Ku*K)/(Ku*K);Ti=Kp/(u2*Ku*Wcg);
                            key=2;lb=2.0;
                        else
                            u1=1.14*(1-0.466*Wcg*L+0.0647*(Wcg)^2*L^2)*(1+Ku*K)/(Ku*K);Kp=(1-u1)*Ku;
                            u2=0.0609*(-1+1.97*Wcg*L-0.323*(Wcg)^2*L^2)*(1+Ku*K)/(Ku*K);Ti=Kp/(u2*Ku*Wcg);
                            key=1;
                        end
                end
        end
end