pid_sh_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_sh_tune(G,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 2
                if L/T<0.1
                    Kp=0.95*T/(K*L);Ti=3.4*L;
                    key=3;lb=0.1;
                elseif L/T>=0.1&L/T<=0.15
                    Kp=0.95*T/(K*L);Ti=3.4*L;
                    key=1;
                elseif L/T>0.15&L/T<=0.3
                    Kp=0.95*T/(K*L);Ti=2.9*L;
                    key=1;
                elseif L/T>0.3&L/T<=0.75
                    Kp=1.04*T/(K*L);Ti=2.25*L;
                    key=1;
                elseif L/T>0.75&L/T<=1.5
                    Kp=1.11*T/(K*L);Ti=1.45*L;
                    key=1;
                elseif L/T>1.5&L/T<=2
                    Kp=1.39*T/(K*L);Ti=L;
                    key=1;
                else
                    Kp=1.39*T/(K*L);Ti=L;
                    key=2;lb=0.2;
                end
            case 6
                [Gm,Pm,Wcg,Wcp]=margin(G);
                Ku=1/abs(Gm);
                Tu=2*3.1416/Wcg;
                switch id
                    case 1
                        Kp=Ku/(3.05-0.35*Tu/L);Ti=Tu*(0.87-0.855*Tu/L+0.172*(Tu/L)^2);
                        key=1;
                    case 2
                        if L/T<0.2
                            Kp=0.55*Ku;Ti=0.78*Tu;
                            key=3;lb=0.2;
                        elseif L/T<0.5&L/T>=0.2
                            Kp=0.55*Ku;Ti=0.78*Tu;
                            key=1;
                        elseif L/T>=0.5&L/T<=1.0
                            Kp=0.48*Ku;Ti=1.25*Tu;
                            key=1;
                        else
                            Kp=0.48*Ku;Ti=1.25*Tu;
                            key=2;lb=1.0;
                        end
                end
        end
    case 3
             [Gm,Pm,Wcg,Wcp]=margin(G);
             Ku=1/abs(Gm);
             Tu=2*3.1416/Wcg;
        switch key2
            case 6
                switch id
                    case 1
                        Kp=K*L/(0.3*L-0.32*Tu);Ti=Tu*(0.15*Tu/L-0.05);Td=0.14*Tu;
                        key=1;
                    case 2
                         if L/T<0.2
                             Kp=0.95*T/(K*L);Ti=0.43*L;Td=0.53*L;
                             key=3;lb=0.2;
                         elseif L/T>=0.2&L/T<=0.35
                             Kp=0.95*T/(K*L);Ti=0.43*L;Td=0.53*L;
                             key=1;
                         elseif L/T>0.35&L/T<=0.75
                             Kp=0.95*T/(K*L);Ti=1.17*L;Td=0.48*L;
                             key=1;
                         elseif L/T>0.75&L/T<=1.5
                             Kp=1.14*T/(K*L);Ti=1.03*L;Td=0.40*L;
                             key=1;
                         elseif L/T>1.55&L/T<=2
                             Kp=1.39*T/(K*L);Ti=0.77*L;Td=0.35*L;
                             key=1;
                         else
                             Kp=1.39*T/(K*L);Ti=0.77*L;Td=0.35*L;
                             key=2;lb=2;
                         end
                end
        end
end