pid_go_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_go_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
                switch id
                    case 1
                        Kp=2*T*((2+(0.5*L/T)^2)^0.5-1)*exp((2+(0.5*L/T)^2)^0.5-2-0.5*L/T)/(K*L);
                        Ti=L*(1+(0.5*L/T)^2)/(3+0.5*L/T+(L/T)^2+(0.5*L/T)^3-(2+(0.5*L/T)^2)^1.5);
                        key=1;
                    case 2
                        Kp=(1+3*T/L+6*(T/L)^2+6*(T/L)^3)/(K*4*(1+3*T/L+3*(T/L)^2));
                        Ti=L*(1+3*T/L+6*(T/L)^2+6*(T/L)^3)/(3*(1+2*T/L+2*(T/L)^2));
                        key=1;
                end
        end
end