📄 pid_tuner.m
字号:
'Rivera et al',...
'Fruehauf et al',...
'Lee et al');
case 6
str=str2mat('Regulator-minimum IAE (Pessen)',...
'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-nearly minimum IAE ITAE (Hwang & Fang)',...
'McMillan',...
'Tan et al [Am=2,φm=pi/4]',...
'Tan et al [Arbitrary Am,φm]');
case 7
str=str2mat('Astrom & Hagglund [max sensitivity=1.4]',...
'Astrom & Hagglund [max sensitivity=2.0]');
end
case 3
switch key2
case 1
str=str2mat('Hang et al',...
'Witt & Waggoner',...
'St.Clair ["aggressive" tuning]',...
'St.Clair ["conservative" tuning]');
case 2
str=str2mat('Minimum IAE (Kaya & Scheib)',...
'Minimum ISE (Kaya & Scheib)',...
'minimum ITAE (Kaya & Scheib)');
case 3
str=str2mat('Minimum IAE (Kaya & Scheib) [First Function]',...
'Minimum IAE (Kaya & Scheib) [Second Function]',...
'Minimum ISE (Kaya & Scheib) [First Function]',...
'Minimum ISE (Kaya & Scheib) [Second Function]',...
'minimum ITAE (Kaya & Scheib) [First Function]',...
'Minimum ITAE (Kaya & Scheib) [Second Function]');
case 4
str=str2mat('Tsang & Rad',...
'Tsang et al [ξ=0.0]',...
'Tsang et al [ξ=0.1]',...
'Tsang et al [ξ=0.2]',...
'Tsang et al [ξ=0.3]',...
'Tsang et al [ξ=0.4]',...
'Tsang et al [ξ=0.5]',...
'Tsang et al [ξ=0.6]',...
'Tsang et al [ξ=0.7]',...
'Tsang et al [ξ=0.8]',...
'Tsang et al [ξ=0.9]',...
'Tsang et al [ξ=1.0]');
case 5
str=str2mat('Chien [First Function]',...
'Chien [Second Function]');
case 6
str=str2mat('Minimum IAE regulator (Shinskey) [First Funtion]',...
'Minimum IAE regulator (Shinskey) [Second Funtion]');
case 7
str=str2mat('Minimum IAE (Kaya & Scheib)',...
'Minimum ISE (Kaya & Scheib)',...
'minimum ITAE (Kaya & Scheib)');
end
end
set(handles.h_lstAlgorithm,'String',str,'Value',1);
function h_lstPID_CreateFcn(hObject, eventdata, handles)if ispc set(hObject,'BackgroundColor','white');else set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));end
function h_lstPIPID_CreateFcn(hObject, eventdata, handles)
if ispc
set(hObject,'BackgroundColor','white');
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
function pid_tuner_OpeningFcn(hObject, eventdata, handles, varargin)
handles.output = hObject;
guidata(hObject, handles);
function varargout = pid_tuner_OutputFcn(hObject, eventdata, handles)
varargout{1} = handles.output;
function h_lstApply_Callback(hObject, eventdata, handles)h_lstPIPID_Callback(hObject, eventdata, handles);function h_btnDisplay_Callback(hObject, eventdata, handles)
xx=get(handles.h_btnDesign,'UserData');
x_result=xx{1};key1=xx{2};key2=xx{3};key3=xx{4};key=xx{5};lb=xx{6};
x_str1='';
x_str2='';
x_str3='';
x_str4='';
x_str5='';
switch length(x_result)
case 0
x_str1='Failed';
case 2
x_str1='The PI controller is';
if key2==7
yy=get(handles.h_btnFOLPD,'UserData');
L=yy{2};T=yy{3};
t=L/(L+T);
switch key3
case 1
b=0.81*exp(0.73*t+1.9*t^2);
x_str3=sprintf('G_c(s)=%f(%f+1/(%fs))',x_result(1),b,x_result(2));
case 2
b=0.44*exp(0.78*t-0.45*t^2);
x_str3=sprintf('G_c(s)=%f(%f+1/(%fs))',x_result(1),b,x_result(2));
case 3
b=0.5;
x_str3=sprintf('G_c(s)=%f(%f+1/(%fs))',x_result(1),b,x_result(2));
end
else
x_str3=sprintf('G_c(s)=%f(1+1/(%fs))',x_result(1),x_result(2));
end
case 4
if x_result(4)==1
x_str1='The PID controller is';
if key2==7
yy=get(handles.h_btnFOLPD,'UserData');
L=yy{2};T=yy{3};
t=L/(L+T);
switch key3
case 1
b=0.40*exp(0.18*t+2.8*t^2);
x_str3=sprintf('Gc_(s)=%f(%f+1/%fs+%fs)',x_result(1),b,x_result(2),x_result(3));
case 2
b=0.22*exp(0.65*t+0.051*t^2);
x_str3=sprintf('Gc_(s)=%f(%f+1/%fs+%fs)',x_result(1),b,x_result(2),x_result(3));
end
else
x_str3=sprintf('Gc_(s)=%f(1+1/%fs+%fs)',x_result(1),x_result(2),x_result(3));
end
else
x_str1='The Modified PID controller is';
if key2==7
N=10;
x_str3=sprintf('U(s)=%f(1+1/%fs)[R(s)-Y(s)(1+%fs)/(1+%fs/%6.2f)]',x_result(1),x_result(2),x_result(3),x_result(3),N);
else
if key2==4
if key3==1
N=5;
else
N=2.5;
end
else
N=10;
end
x_str3=sprintf('Gc_(s)=%f(1+1/%fs)(1+%fs)/(1+%fs/%f)',x_result(1),x_result(2),x_result(3),x_result(3),N);
end
end
otherwise
end
if key==2
x_str5=sprintf('Warning: L/T>%f',lb);
elseif key==3
x_str5=sprintf('Warning: L/T<%f',lb);
else
end
msgbox({x_str1; x_str2; x_str3; x_str2; x_str4;x_str5},'Controller information');
function h_btnSimulation_Callback(hObject, eventdata, handles)G=get(handles.h_btnPlant,'UserData');
axes(handles.h_axMain);
set([handles.h_btnTRange,handles.h_axMain],'Visible','on');
xx=get(handles.h_btnDesign,'UserData');
key1=get(handles.h_lstPIPID,'Value');
key2=get(handles.h_lstApply,'Value');
key3=get(handles.h_lstAlgorithm,'Value');
Gd=[];
set([handles.h_txtLam,handles.h_edtLam],'Visible','off');
switch key1
case 1
if key2==7
yy=get(handles.h_btnFOLPD,'UserData');
L=yy{2};T=yy{3};
t=L/(L+T);
switch key3
case 1
b=0.81*exp(0.73*t+1.9*t^2);
Gc=xx{1}(1)*(b+tf(1,[xx{1}(2) 0]));
case 2
b=0.44*exp(0.78*t-0.45*t^2);
Gc=xx{1}(1)*(b+tf(1,[xx{1}(2) 0]));
case 3
b=0.5;
Gc=xx{1}(1)*(b+tf(1,[xx{1}(2) 0]));
end
else
Gc=xx{1}(1)*(1+tf(1,[xx{1}(2) 0]));
end
case 2
if key2==7
yy=get(handles.h_btnFOLPD,'UserData');
L=yy{2};T=yy{3};
t=L/(L+T);
switch key3
case 1
b=0.40*exp(0.18*t+2.8*t^2);
Gc=xx{1}(1)*(b+tf(1,[xx{1}(2) 0])+tf([xx{1}(3),0],[xx{1}(3)/10,1]));
case 2
b=0.22*exp(0.65*t+0.051*t^2);
Gc=xx{1}(1)*(b+tf(1,[xx{1}(2) 0])+tf([xx{1}(3),0],[xx{1}(3)/10,1]));
end
else
Gc=xx{1}(1)*(1+tf(1,[xx{1}(2) 0])+tf([xx{1}(3),0],[xx{1}(3)/10,1]));
end
case 3
if key2==7
Gc=xx{1}(1)*(1+tf(1,[xx{1}(2) 0]));
Gd=Gc*tf([xx{1}(3),1],[xx{1}(3)/10,1]);
else
Gc=xx{1}(1)*(1+tf(1,[xx{1}(2) 0]))*tf([xx{1}(3),1],[xx{1}(3)/10,1]);
end
end
tend=str2num(get(handles.h_edtTRange,'String'));
if G.ioDelay==0 & ~(key1==3 & key2==7)
step(feedback(G*Gc,1),tend);
else
assignin('base','num_p',G.num{1});
assignin('base','den_p',G.den{1});
assignin('base','num_c',Gc.num{1});
assignin('base','den_c',Gc.den{1});
assignin('base','Td',G.ioDelay);
if length(Gd)>0
assignin('base','num_d',Gd.num{1});
assignin('base','den_d',Gd.den{1});
[t,x,y]=sim('pid_simu_ind',[0,tend]);
else
[t,x,y]=sim('pid_simu',[0,tend]);
end
plot(t,y)
end
function h_btnTRange_Callback(hObject, eventdata, handles)
set([handles.h_edtTRange,handles.h_txtTRange],'Visible','on');
function h_edtTRange_Callback(hObject, eventdata, handles)
set([handles.h_edtTRange,handles.h_txtTRange],'Visible','off');
h_btnSimulation_Callback(hObject, eventdata, handles);
function h_btnHold_Callback(hObject, eventdata, handles)
key=get(handles.h_btnHold,'Value');
if key==0, hold off; else, hold on; end
%DO NOT edit function h_lstAlgorithm_CreateFcn(hObject, eventdata, handles)
if ispc
set(hObject,'BackgroundColor','white');
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
function h_lstAlgorithm_Callback(hObject, eventdata, handles)
function h_lstFOLPD_CreateFcn(hObject, eventdata, handles)
if ispc
set(hObject,'BackgroundColor','white');
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
function h_lstFOLPD_Callback(hObject, eventdata, handles)
function h_lstApply_CreateFcn(hObject, eventdata, handles)
if ispc
set(hObject,'BackgroundColor','white');
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
function h_edtLam_CreateFcn(hObject, eventdata, handles)if ispc set(hObject,'BackgroundColor','white');else set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));endfunction h_edtLam_Callback(hObject, eventdata, handles)function h_edtTRange_CreateFcn(hObject, eventdata, handles)if ispc set(hObject,'BackgroundColor','white');else set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));end⌨️ 快捷键说明
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