pid_ml_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_ml_tune(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 1
                if L/T<0.1
                    Kp=0.928*(T/L)^0.946/K;Ti=T*(L/T)^0.583/1.078;
                    key=3;lb=0.1;
                elseif L/T>1.0
                    Kp=0.928*(T/L)^0.946/K;Ti=T*(L/T)^0.583/1.078;
                    key=2;lb=1.0;
                else
                    Kp=0.928*(T/L)^0.946/K;Ti=T*(L/T)^0.583/1.078;
                    key=1;
                end
            case 2
                      switch id   
                          case 1
                              Kp=0.984*(T/L)^0.986/K;Ti=T*(L/T)^0.707/0.608;
                           
                          case 2
                              Kp=1.305*(T/L)^0.959/K;Ti=T*(L/T)^0.739/0.492;
                           
                          case 3
                              Kp=0.859*(T/L)^0.977/K;Ti=T*(L/T)^0.680/0.674;
                           
                      end
                 if L/T<0.1
                     key=3;lb=0.1;
                 elseif L/T>1.0
                     key=2;lb=1.0;
                 else
                     key=1;
                 end
        end
    case 2    
        switch key2
            case 1    
                 if L/T<0.1
                    key=3;lb=0.1;
                elseif L/T>1.0
                    key=2;lb=1.0;
                else
                    Kp=1.370*(T/L)^0.950/K;Ti=T*(L/T)^0.738/1.351;Td=0.365*T*(L/T)^0.950;
                    key=1;
                end
             case 2
                  switch id   
                      case 1
                          Kp=1.435*(T/L)^0.921/K;Ti=T*(L/T)^0.749/0.878;Td=0.482*T*(L/T)^1.137;
                              
                      case 2
                           Kp=1.495*(T/L)^0.945/K;Ti=T*(L/T)^0.771/1.101;Td=0.56*T*(L/T)^1.006;
                              
                      case 3
                           Kp=1.357*(T/L)^0.947/K;Ti=T*(L/T)^0.738/0.842;Td=0.381*T*(L/T)^0.995;
                             
                end
                if L/T<0.1
                    key=3;lb=0.1;
                elseif L/T>1.0
                    key=2;lb=1.0;
                else
                    key=1;
                end
        end
end