chap1_2.m

来自「遗传算法是模拟达尔文生物进化论的自然选择与遗传学机理的计算模型, 它是由美国Mi」· M 代码 · 共 41 行

%Discrete PID control for continuous plant
clear all;
close all;

ts=0.001;  %Sampling time
xk=zeros(2,1);
e_1=0;
u_1=0;

for k=1:1:2000
time(k) = k*ts;

rin(k)=0.50*sin(1*2*pi*k*ts);
  
para=u_1;
tSpan=[0 ts];
[tt,xx]=ode45('chap1_2f',tSpan,xk,[],para);
xk = xx(length(xx),:);
yout(k)=xk(1); 

e(k)=rin(k)-yout(k);
de(k)=(e(k)-e_1)/ts; 

u(k)=20.0*e(k)+0.50*de(k);
%Control limit
if u(k)>10.0
   u(k)=10.0;
end
if u(k)<-10.0
   u(k)=-10.0;
end

u_1=u(k);
e_1=e(k);
end
figure(1);
plot(time,rin,'r',time,yout,'b');
xlabel('time(s)'),ylabel('rin,yout');
figure(2);
plot(time,rin-yout,'r');
xlabel('time(s)'),ylabel('error');