untitled.m

利用遗传算法优化pid控制器三个参数的matlab程序

%Increment PID Controller
clear all;
close all;

ts=0.001;
sys=tf(350,[1,45,1]);
dsys=c2d(sys,ts,'z');
[num,den]=tfdata(dsys,'v');

u_1=0.0;u_2=0.0;u_3=0.0;
y_1=0;y_2=0;y_3=0;

x=[0,0,0]';
error_1=0;
error_2=0;
for k=1:1:1000
    time(k)=k*ts;
    
    rin(k)=1.0;
    kp=5;
    ki=0.1;
    kd=15;
    
    du(k)=kp*x(1)+kd*x(2)+ki*x(3);
    u(k)=u_1+du(k);
    
    if u(k)>=10
        u(k)=10;
    end
    if u(k)<=-10
        u(k)=-10;
    end
    yout(k)=-den(2)*y_1-den(3)*y_2+num(2)*u_1+num(3)*u_2;
    
    error=rin(k)-yout(k);
    u_3=u_2;u_2=u_1;u_1=u(k);
    y_3=y_2;y_2=y_1;y_1=yout(k);
    
    x(1)=error-error_1;            %Calculating  P
    x(2)=error-2*error_1+error_2;  %Calculating  D
    x(3)=error;                    %Calculating  I
    
    error_2=error_1;
    error_1=error;
end
plot(time,rin,'b',time,yout,'r');
xlabel('time(s)');ylabel('rin,yout');