t22disturb.m

状态反馈matlab仿真程序

%------------------------------------------------------------------
%  This program is used to compare the step responses of Close Loop System 
%   by Zero-pole placement method, Inner-model method and Z-N method etc.
%  NOTE: The 'iden_c22e.m' must be executed first to produce K,T,tao3.
%------------------------------------------------------------------

Ts=120;
SetValue=0;
Tnoise=Ts+1;
Weight=0.01*Tnoise;
Anoise=0.5;
StarTime=0;

figure(4);
clf;
xlabel('t'); ylabel('y');
Title('The Anti-Disturbance Performance of Close Loop System');
hold on

%(1)Zero-pole placement method with 'StatePIDzp.mdl'
Kp=1.05;
Ti=1.982;
Td=0.484;
[t,xx,yy]=sim('StatePIDzp',Ts);
plot(t,yy);
pause
%(2)Inner-model method to solve the step response with 'StatePIDmo.mdl'
lemda=5.4;
Kp=b1/(2*lemda*K);
Ti=b1/b0;
Td=b2/b1;
Lf=lemda/2;
[t,xx,yy]=sim('StatePIDmo',Ts);
plot(t,yy);
pause
%(3)Z-N method with 'UsualPID.mdl'
Ao=1.2; Bo=1; Co=2; Do=1; Eo=0.5; Fo=1; 
Kp=(Ao*(T/tao3)^Bo)/K;
Ti=T*Co*(tao3/T)^Do;
Td=T*Eo*(tao3/T)^Fo;
[t,xx,yy]=sim('UsualPID',Ts);
%plot(t,yy);

%(4)Cohen-Coon method with 'UsualPID.mdl'
Kp=(1.35*T/tao3+0.27)/K;
Ti=(2.5*T*tao3+0.5*tao3^2)/(T+0.6*tao3);
Td=0.37*T*tao3/(T+0.2*tao3);
[t,xx,yy]=sim('UsualPID',Ts);
plot(t,yy);
pause
%(5)IAE method with 'UsualPID.mdl'
Ao=1.435; Bo=0.921; Co=1.139; Do=0.749; Eo=0.482; Fo=1.137; 
Kp=(Ao*(T/tao3)^Bo)/K;
Ti=T*Co*(tao3/T)^Do;
Td=T*Eo*(tao3/T)^Fo;
[t,xx,yy]=sim('UsualPID',Ts);
%plot(t,yy);

%(6)ISE method with 'UsualPID.mdl'
Ao=1.495; Bo=0.945; Co=0.917; Do=0.771; Eo=0.360; Fo=1.006; 
Kp=0.3*(Ao*(T/tao3)^Bo)/K;
Ti=T*Co*(tao3/T)^Do;
Td=T*Eo*(tao3/T)^Fo;
[t,xx,yy]=sim('UsualPID',Ts);
plot(t,yy);
pause
%(7)ITAE method with 'UsualPID.mdl'
Ao=0.407; Bo=0.947; Co=1.176; Do=0.738; Eo=0.381; Fo=0.995; 
Kp=(Ao*(T/tao3)^Bo)/K;
Ti=T*Co*(tao3/T)^Do;
Td=T*Eo*(tao3/T)^Fo;
[t,xx,yy]=sim('UsualPID',Ts);
plot(t,yy);