pid_vl_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_vl_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 4
                switch id
                    case 1
                        [m,p,w]=bode(G);
                        i=find(p<-135);
                        i(1);
                        w(i(1));m(i(1));
                        if L/T<=0.1
                            Kp=1/3.5*abs(m(i(1)));Ti=4.6/w(i(1));
                            key=1;
                        elseif L/T>0.1&L/T<=0.15
                            Kp=1/2.828*abs(m(i(1)));Ti=4/w(i(1));
                            key=1;
                        elseif L/T>0.15&L/T<=1
                            Kp=1/(abs(m(i(1)))-0.6*K);Ti=(1.15*abs(m(i(1)))+0.75*K)/(w(i(1))*(2.3*abs(m(i(1)))-0.3*K));
                            key=1;
                        else
                            Kp=1/(abs(m(i(1)))-0.6*K);Ti=(1.15*abs(m(i(1)))+0.75*K)/(w(i(1))*(2.3*abs(m(i(1)))-0.3*K)); 
                            key=2;lb=1;
                        end
                    case 2
                        Kp=T/(2*K*L);Ti=T;
                        if L/T<0.25
                            key=3;lb=0.25;
                        elseif L/T>1
                            key=2;lb=1;
                        else
                            key=1;
                        end
                end
        end
end