pid_tuner.m

很优良的PID控制器设计仿真程序与模型,经过严格检验

                        vars=[K L T 1];
                        [Kp,Ti,Td,key,lb]=pid_ah_tune(key1,key2,vars);
                    case 2
                        vars=[K L T 2];
                        [Kp,Ti,Td,key,lb]=pid_ah_tune(key1,key2,vars);
                end
        end
        x_result=[Kp,Ti,Td,1]; 
    case 3  
        switch key2
            case 1
                switch key3
                    case 1
                        vars=[K L T 1];
                        [Kp,Ti,Td,key,lb]=pid_han_tune(key1,key2,vars);
                    case 2
                        vars=[K L T 1];
                        [Kp,Ti,Td,key,lb]=pid_ww_tune(key1,key2,vars);
                    case 3
                        vars=[K L T 1];
                        [Kp,Ti,Td,key,lb]=pid_cl_tune(key1,key2,vars);
                    case 4
                        vars=[K L T 2];
                        [Kp,Ti,Td,key,lb]=pid_cl_tune(key1,key2,vars);
                end
            case 2
                switch key3
                    case 1
                        vars=[K L T 1];
                        [Kp,Ti,Td,key,lb]=pid_ks_tune(key1,key2,vars);
                    case 2
                        vars=[K L T 2];
                        [Kp,Ti,Td,key,lb]=pid_ks_tune(key1,key2,vars);
                    case 3
                        vars=[K L T 3];
                        [Kp,Ti,Td,key,lb]=pid_ks_tune(key1,key2,vars);
                end
            case 3
                switch key3
                    case 1
                        vars=[K L T 1];
                        [Kp,Ti,Td,key,lb]=pid_ks_tune(key1,key2,vars);
                    case 2
                        vars=[K L T 2];
                        [Kp,Ti,Td,key,lb]=pid_ks_tune(key1,key2,vars);
                    case 3
                        vars=[K L T 3];
                        [Kp,Ti,Td,key,lb]=pid_ks_tune(key1,key2,vars);
                    case 4
                        vars=[K L T 4];
                        [Kp,Ti,Td,key,lb]=pid_ks_tune(key1,key2,vars);
                    case 5
                        vars=[K L T 5];
                        [Kp,Ti,Td,key,lb]=pid_ks_tune(key1,key2,vars);
                    case 6
                        vars=[K L T 6];
                        [Kp,Ti,Td,key,lb]=pid_ks_tune(key1,key2,vars);
                end
            case 4
                switch key3
                    case 1
                        vars=[K L T 1];
                        [Kp,Ti,Td,key,lb]=pid_tr_tune(key1,key2,vars);
                    case 2
                        vars=[K L T 1];
                        [Kp,Ti,Td,key,lb]=pid_ts_tune(key1,key2,vars);
                    case 3
                        vars=[K L T 2];
                        [Kp,Ti,Td,key,lb]=pid_ts_tune(key1,key2,vars);
                    case 4
                        vars=[K L T 3];
                        [Kp,Ti,Td,key,lb]=pid_ts_tune(key1,key2,vars);
                    case 5
                        vars=[K L T 4];
                        [Kp,Ti,Td,key,lb]=pid_ts_tune(key1,key2,vars);
                    case 6
                        vars=[K L T 5];
                        [Kp,Ti,Td,key,lb]=pid_ts_tune(key1,key2,vars);
                    case 7
                        vars=[K L T 6];
                        [Kp,Ti,Td,key,lb]=pid_ts_tune(key1,key2,vars);
                    case 8
                        vars=[K L T 7];
                        [Kp,Ti,Td,key,lb]=pid_ts_tune(key1,key2,vars);
                    case 9
                        vars=[K L T 8];
                        [Kp,Ti,Td,key,lb]=pid_ts_tune(key1,key2,vars);
                    case 10
                        vars=[K L T 9];
                        [Kp,Ti,Td,key,lb]=pid_ts_tune(key1,key2,vars);
                    case 11
                        vars=[K L T 10];
                        [Kp,Ti,Td,key,lb]=pid_ts_tune(key1,key2,vars);
                    case 12
                        vars=[K L T 11];
                        [Kp,Ti,Td,key,lb]=pid_ts_tune(key1,key2,vars);
                end
            case 5
                 set([handles.h_txtLam,handles.h_edtLam],'Visible','on');
                 lam=get(handles.h_edtLam,'String');
                 lambda=str2num(lam);
                switch key3
                    case 1
                        vars=[K L T 1];
                        [Kp,Ti,Td,key,lb]=pid_chi_tune(lambda,key1,key2,vars);
                    case 2
                        vars=[K L T 2];
                        [Kp,Ti,Td,key,lb]=pid_chi_tune(lambda,key1,key2,vars);
                end
            case 6
                switch key3
                    case 1
                        vars=[K L T 1];
                        [Kp,Ti,Td,key,lb]=pid_sh_tune(G,key1,key2,vars);
                    case 2
                        vars=[K L T 2];
                        [Kp,Ti,Td,key,lb]=pid_sh_tune(G,key1,key2,vars);
                end
            case 7
                switch key3
                    case 1
                        vars=[K L T 1];
                        [Kp,Ti,Td,key,lb]=pid_ks_tune(key1,key2,vars);
                    case 2
                        vars=[K L T 2];
                        [Kp,Ti,Td,key,lb]=pid_ks_tune(key1,key2,vars);
                    case 3
                        vars=[K L T 3];
                        [Kp,Ti,Td,key,lb]=pid_ks_tune(key1,key2,vars);
                end
        end
        x_result=[Kp,Ti,Td,2];    
end

set(handles.h_btnDesign,'UserData',{x_result,key1,key2,key3,key,lb})
h_btnDisplay_Callback(hObject, eventdata, handles);

function h_lstPIPID_Callback(hObject, eventdata, handles)
key1=get(handles.h_lstPIPID,'Value');         
key2=get(handles.h_lstApply,'Value');
str='';
switch key1
    case 1
        switch key2
            case 1
                str=str2mat('Ziegler & Nichols',...
                    'Hazebroek & Van der Waerden',...
                    'Astrom & Hagglund_ultimate cycle Ziegler-Nichols equivalent',...
                    'Astrom & Hagglund_20%overshoot',...
                    'Cohen & Coon',...
                    'Wolfe',...
                    'Murrill',...
                    'McMillan',...
                    'St. Clair');
            case 2
                str=str2mat('Minimum IAE (Murrill)',...
                    'Minimum IAE (Shinskey)',...
                    'Minimum IAE (Huang et al)',...
                    'Minimum ISE (Hazebroek & Van der Waerden)',...
                    'Minimum ISE (Murrill)',...
                    'Minimum ISE (Zhuang & Atherton)',...
                    'Minimum ITAE (Murrill)',...
                    'Minimum ISTSE (Zhuang & Atherton)',...
                    'Minimum ISTES (Zhuang & Atherton)',...
                    'Chien et al-regulator_0% overshoot',...
                    'Chien et al-regulator_20% overshoot',...
                    'Minimum IAE-regulator-Pemberton (Smith & Corripio)');
            case 3
                str=str2mat('Minimum IAE (Rovira et al)',...
                    'Minimum IAE (huang et al)',...
                    'Minimum ISE (Zhuang & Atherton)',...
                    'Minimum ISE (Khan & Lehman)',...
                    'Minimum ITAE (Rovira et al)',...
                    'Minimum ISTSE (Zhuang & Atherton)',...
                    'Minimum ISTES (Zhuang & Atherton)',...
                    'Chien et al-servo_0% over shoot',...
                    'Chien et al-servo_20% over shoot',...
                    'Minimum IAE-servo (Smith & Corripio)',...
                    '5% overshoot-servo (Smith & Corripio)',...
                    '5% overshoot-servo (Hang et al)');
            case 4
                str=str2mat('Haalman',...
                    'Regulator-Gorecki et al [real pole and max attainable multiplicity]',...
                    'Regulator-Gorecki et al [low freq.]',...
                    'Chiu et al',...
                    'Astrom et al',...
                    'Schneider [Closed loop response damping factor=1]',...
                    'Schneider [Closed loop response damping factor=0.6]',...
                    'McAnany',...
                    'Leva et al',...
                    'Khan & Lehman',...
                    'Hang et al [GM=10.5,PM=pi/6]',...
                    'Hang et al [GM=10.5,PM=pi/4]',...
                    'Hang et al [GM=10.5,PM=pi/3]',...
                    'Hang et al [GM=10.5,PM=3*pi/8]',...
                    'Hang et al [GM=10.5,PM=2*pi/5]',...
                    'Gain and margin (Ho et al) [Am=2.0,Φm=pi/4]',...
                    'Gain and margin (Ho et al) [Am=3.0,Φm=pi/3]',...
                    'Gain and margin (Ho et al) [Am=4.0,Φm=7*pi/18]',...
                    'Tan et al',...
                    'Symmetrical optimum principle (Voda & Landau)',...
                    'Friman & Waller',...
                    'Voda & Landau',...
                    'Smith',...
                    'Modulus optimum principle (Cox et al)',...
                    'Cluett & Wang [Closed loop time constant=4*L]',...
                    'Cluett & Wang [Closed loop time constant=2*L]',...
                    'Cluett & Wang [Closed loop time constant=1.33*L]',...
                    'Cluett & Wang [Closed loop time constant=L]',...
                    'Cluett & Wang [Closed loop time constant=0.8*L]',...
                    'Cluett & Wang [Closed loop time constant=0.67*L]',...
                    'Abbas');
            case 5
                str=str2mat('Brambilla et al',...
                    'Rivera et al',...
                    'Rivera et al alternative',...
                    'Chien',...
                    'Thomasson',...
                    'Fruehauf et al',...
                    'Ogawa [Closed loop peak gain=1.4,20% uncertainty ]',...
                    'Ogawa [Closed loop peak gain=1.4,33% uncertainty ]',...
                    'Ogawa [Closed loop peak gain=1.4,50% uncertainty ]',...
                    'Lee et al');
            case 6
                str=str2mat('McMillan',...
                    'Regulator-minimum IAE (Shinskey) [First Function ]',...
                    'Regulator-minimum IAE (Shinskey) [Second Function ]',...
                    'Regulator-nearly minimum IAE,ISE,ITAE (Hwang) [Decay ratio=0.15]',...
                    'Regulator-nearly minimum IAE,ISE,ITAE (Hwang) [Decay ratio=0.2]',...
                    'Regulator-nearly minimum IAE,ISE,ITAE (Hwang) [Decay ratio=0.25]',...
                    'Servo-small IAE (Hwang) [First Function]',... 
                    'Servo-small IAE (Hwang) [Second Function]',...
                    'Servo-small IAE (Hwang) [Third Function]',...
                    'Servo-minimum ISTSE (Zhuang & Atherton)',...
                    'Regulator-minimum ISTSE (Zhuang & Atherton)',...
                    'Servo-nearly minimum IAE & ITAE (Hwang & Fang)',...
                    'Regulator-nearly minimum IAE & ITAE (Hwang & Fang)',...
                    'Simultaneous Servo/regulator (Hwang & Fang)');
            case 7
                str=str2mat('Astrom & Hagglund [Ms=1.4-dominant pole design]',...
                    'Astrom & Hagglund [Ms=2.0-dominant pole design]',...
                    'Astrom & Hagglund-modified Ziegler-nichols');
        end
    case 2
        switch key2
            case 1 
                str=str2mat('Ziegler & Nichols',...
                    'Astrom & Hagglund',...
                    'Parr',...
                    'Chien et al-regulator_0% overshoot',...
                    'Chien et al-regulator_20% overshoot',...
                    'Chien et al-servo_0% overshoot',...
                    'Chien et al-servo_20% overshoot',...
                    'Three constrains method-Murrill',...
                    'Cohen & Coon',...
                    'Sain & Ozgen');
            case 2
                str=str2mat('Minimum IAE (Murrill)',...
                    'Modified minimum IAE (Cheng & Hung)',...
                    'Minimum ISE (Murrill)',...
                    'Minimum ISE (Zhuang & Atherton)',...
                    'Minimum ITAE (Murrill)',...
                    'Minimum ISTSE (Zhuang & Atherton)',...
                    'Minimum ISTES (Zhuang & Atherton)');
            case 3
                str=str2mat('Minimum IAE (Rovira et al)',...
                    'Minimum IAE (Wang et al)',...
                    'Minimum ISE (Wang et al)',...
                    'Minimum ISE (Zhuang & Atherton)',...
                    'Minimum ITAE (Rovira et al)',...
                    'Modified minimum ITAE (Cheng & Hung)',...
                    'Minimum ITAE (Wang et al)',...
                    'Minimum ISTSE (Zhuang & Atherton)',...
                    'Minimum ISTES (Zhuang & Atherton)');
            case 4
                str=str2mat('Regulator-min.IAE (Smith & Corripio)',...
                    'Servo-min.IAE (Smith & Corripio)',...
                    'Servo-5% overshoot (Smith & Corripio)',...
                    'Suyama',...
                    'Gain and phase margin (Zhuang & Atherton)',...
                    'Abbas',...
                    'Servo-min.ISE (Ho et al)',...
                    'Regulator-min.ISE (Ho et al)');
            case 5
                str=str2mat('Brambilla et al',...