pid_cw_tune.m

包含大量遗传算法程序

function [Kp,Ti,Td,key,lb]=pid_cw_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 4
                switch id
                    case 1
                        Kp=(0.019952*L+0.20042*T)/(K*L);
                        Ti=(0.099508*L+0.99956*T)*L/(0.99747*L-8.7425*10^(-5)*T);
                        key=1;
                    case 2
                        Kp=(0.05548*L+0.33639*T)/(K*L);
                        Ti=(0.16440*L+0.99558*T)*L/(0.98607*L-1.5032*10^(-4)*T);
                        key=1;
                    case 3
                        Kp=(0.092654*L+0.43620*T)/(K*L);
                        Ti=(0.20926*L+0.98518*T)*L/(0.96515*L+4.2550*10^(-3)*T);
                        key=1;
                    case 4
                        Kp=(0.12786*L+0.51235*T)/(K*L);
                        Ti=(0.24145*L+0.96751*T)*L/(0.93566*L+2.2988*10^(-2)*T);
                        key=1;
                    case 5
                        Kp=(0.16051*L+0.57109*T)/(K*L);
                        Ti=(0.26502*L+0.94291*T)*L/(0.89868*L+6.9355*10^(-2)*T);
                        key=1;
                    case 6
                        Kp=(0.19067*L+0.61593*T)/(K*L);
                        Ti=(0.28242*L+0.91231*T)*L/(0.85491*L+0.15937*T);
                        key=1;
                end
        end
end