pid0.m

基于TKGK实验台的实验数据编码

function [u,s,e0]=pid0(v,s,e0,u)
kp=2;
ti=60;
td=0.00;
t=1;

E=s(1)-v(1);% the erro of between set point value and H1
e0(3)=E;
u(2)=u(2)+kp*[e0(3)-e0(2)]+kp*t/ti*e0(3)+kp*td/t*[e0(3)-2*e0(2)+e0(1)];
%u=u0+kp*[a(3)-a(2)]+kp/ti*a(3)+kp*td*[a(3)-2*a(2)+a(1)];

   e0(1)=e0(2);
   e0(2)=e0(3);
  % if u(1)>102
  %    u(1)=102;
  % elseif u(1)<-102
  %    u(1)=-102;
  % end