pid_pe_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_pe_tune(G,key1,key2,vars)
key=0; Kp=[]; Ti=[]; Td=[]; lb=[];
K=vars(1); L=vars(2); T=vars(3); id=vars(4);
[Gm,Pm,Wcg,Wcp]=margin(G);
Ku=1/abs(Gm);
Tu=2*3.1416/Wcg;
switch key1
    case 2
        switch key2
            case 6
                if L/T<0.1
                    Kp=0.7*Ku;Ti=0.4*Tu;Td=0.149*Tu;
                    key=3;lb=0.1;
                elseif L/T>1.0
                    Kp=0.7*Ku;Ti=0.4*Tu;Td=0.149*Tu;
                    key=2;lb=1.0;
                else
                    Kp=0.7*Ku;Ti=0.4*Tu;Td=0.149*Tu;
                    key=1;
                end
        end
end