pid_ks_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_ks_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 3
        switch key2
            case 2
                switch id
                    case 1
                        Kp=0.98089*(T/L)^0.76167/K;Ti=T*(T/L)^1.05221/0.91032;Td=0.59974*T*(L/T)^0.89819;
                        
                    case 2
                        Kp=1.11907*(T/L)^0.89711/K;Ti=T*(T/L)^0.9548/0.7987;Td=0.54766*T*(L/T)^0.87798;
                        
                    case 3
                        Kp=0.77902*(T/L)^1.06401/K;Ti=T*(T/L)^0.70949/1.14311;Td=0.57137*T*(L/T)^1.03826;
                        
                end
            case 3
                switch id
                    case 1
                        Kp=0.65*(T/L)^1.04432/K;Ti=T/(0.9895+0.09539*L/T);Td=0.50814*T*(L/T)^1.08433;
                        
                    case 2
                        Kp=0.71959*(T/L)^1.03092/K;Ti=T/(1.12666-0.18145*L/T);Td=0.54568*T*(L/T)^0.86411;
                        
                    case 3
                        Kp=1.12762*(T/L)^0.80368/K;Ti=T/(0.99783+0.02860*L/T);Td=0.42844*T*(L/T)^1.0081;
                        
                    case 4
                        Kp=0.81669*(T/L)^1.004/K;Ti=T/(1.09112-0.22387*L/T);Td=0.44278*T*(L/T)^0.97168;
                        
                    case 5
                        Kp=1.1427*(T/L)^0.9365/K;Ti=T/(0.99223-0.35269*L/T);Td=0.35308*T*(L/T)^0.78088;
                        
                    case 6
                        Kp=0.8326*(T/L)^0.7607/K;Ti=T/(1.00268+0.00854*L/T);Td=0.44243*T*(L/T)^1.11499;
                end
            case 7
                switch id
                    case 1
                        Kp=0.91*(T/L)^0.7938/K;Ti=T*(T/L)^1.00403/1.01495;Td=0.5414*T*(L/T)^0.7848;
                        
                    case 2
                        Kp=1.1147*(T/L)^0.8922/K;Ti=T*(T/L)^0.8753/0.9324;Td=0.56508*T*(L/T)^0.91107;
                        
                    case 3
                        Kp=0.7058*(T/L)^0.8872/K;Ti=T*(T/L)^0.99138/1.03326;Td=0.60006*T*(L/T)^0.971;
                        
                end
        end
end
if L/T>1
    key=2;lb=1;
else
    key=1;
end