pid_ab_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_ab_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
                V=0.1;
                Kp=(0.177+0.348*(L/T)^(-1.002))/(K*(0.531-0.359*V^0.713));Ti=T+0.5*L;
                if L/T<0.1
                    key=3;lb=0.1;
                elseif L/T>5.0
                    key=2;lb=5.0;
                else
                    key=1;
               end
        end
    case 2  
        switch key2
            case 4
                V=0.1;
                Kp=(0.148+0.186*(L/T)^(-1.045))/(K*(0.497-0.464*V^0.590));Ti=T+0.5*L;Td=T*L/(2*T+L);
                if L/T<0.1
                    key=3;lb=0.1;
                elseif L/T>5.0
                    key=2;lb=5.0;
                else
                    key=1;
               end
        end
end