nnbp_pid.m

直流双闭环调速系统

function [sys,x0,str,ts] = nnbp_pid(t,x,u,flag,T,nh,xite,alfa,kF1,kF2) %#ok<INUSD,FNDEF>

switch flag,

  
  case 0,
    [sys,x0,str,ts]=mdlInitializeSizes(T,nh);

 
  case 3,
    sys=mdlOutputs(t,x,u,T,nh,xite,alfa,kF1,kF2);

  
  case {1,2,4,9},
    sys=[];

  otherwise
    error(['Unhandled flag = ',num2str(flag)]);

end


function [sys,x0,str,ts]=mdlInitializeSizes(T,nh)

sizes = simsizes;

sizes.NumContStates  = 0;
sizes.NumDiscStates  = 0;
sizes.NumOutputs     = 4+7*nh;
sizes.NumInputs      = 7+14*nh;
sizes.DirFeedthrough = 1;
sizes.NumSampleTimes = 1;   % at least one sample time is needed

sys = simsizes(sizes);

x0  = [];

str = [];

ts  = [T 0];

function sys=mdlOutputs(t,x,u,T,nh,xite,alfa,kF1,kF2) %#ok<INUSD>
wi_2=reshape(u(8:7+4*nh),nh,4); %#ok<NASGU>
wo_2=reshape(u(8+4*nh:7+7*nh),3,nh); %#ok<NASGU>
wi_1=reshape(u(8+7*nh:7+11*nh),nh,4); %#ok<NASGU>
wo_1=reshape(u(8+11*nh:7+14*nh),3,nh); %#ok<NASGU>
xi=[u([6,4,1])',1];
xx=[u(1)-u(2);u(1);u(1)+u(3)-2*u(2)];
I=xi*wi_1';
Oh=non_transfun(I,kF1);
K=non_transfun(wo_1*Oh',kF2);
uu=u(7)+K'*xx;
dyu=sign((u(4)-u(5))/(uu-u(7)+0.0000001));
dK=non_transfun(K,3);
delta3=u(1)*dyu*xx.*dK;
wo=wo_1+xite*delta3*Oh+alfa*(wo_1-wo_2)+alfa*(wo_1-wo_2);
dO=2*non_transfun(I,3);
wi=wi_1+xite*(dO.*(delta3'*wo))'*xi+alfa(wi_1-wi_2);
sys=[uu;K;wi(:);wo(:)];



function W1=non_transfun(W,key)
switch key
    case 1,W1=(exp(W)-exp(-W))./(exp(W)+exp(-W));
    case 2,W1=exp(W)./(exp(W)+exp(-W));
    case 3,W1=2./(exp(W)+exp(-W)).^2;
end