pid_kl_tune.m

包含大量遗传算法程序

function [Kp,Ti,Td,key,lb]=pid_kl_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 3
                if L/T<0.01
                    Kp=(0.7388/L+0.3185/T)*T/K;Ti=Kp*K/(0.5291/(T*L)-0.0003082/L^2);
                    key=3;lb=0.01;
                elseif 0.01<=L/T&L/T<0.2
                    Kp=(0.7388/L+0.3185/T)*T/K;Ti=Kp*K/(0.5291/(T*L)-0.0003082/L^2); 
                    key=1;
                elseif 0.2<=L/T&L/T<=20
                    Kp=(0.808/L+0.511/T-0.255/(T*L)^0.5)*T/K;Ti=Kp*K/(0.846/(T*L)+0.095/L^2-0.381/(L*(L*T)^0.5)); 
                    key=1;
                else
                    Kp=(0.808/L+0.511/T-0.255/(T*L)^0.5)*T/K;Ti=Kp*K/(0.846/(T*L)+0.095/L^2-0.381/(L*(L*T)^0.5));
                    key=2;lb=20;
                end
            case 4
                 if L/T<0.01
                    Kp=(0.3852/L+0.723/T-0.404*L/T^2)*T/K;Ti=Kp*K/(0.4104/(T*L)-0.00024/L^2-0.525/T^2);
                    key=3;lb=0.01;
                elseif 0.01<=L/T&L/T<0.2
                    Kp=(0.3852/L+0.723/T-0.404*L/T^2)*T/K;Ti=Kp*K/(0.4104/(T*L)-0.00024/L^2-0.525/T^2); 
                    key=1;
                elseif 0.2<=L/T&L/T<=20
                    Kp=(0.404/L+0.256/T-0.1275/(T*L)^0.5)*T/K;Ti=Kp*K/(0.719/(T*L)+0.0808/L^2-0.324/(L*(L*T)^0.5)); 
                    key=1;
                else
                    Kp=(0.404/L+0.256/T-0.1275/(T*L)^0.5)*T/K;Ti=Kp*K/(0.719/(T*L)+0.0808/L^2-0.324/(L*(L*T)^0.5));
                    key=2;lb=20;
                end
        end
end