pidc.m

基于TKGK实验台的实验数据编码

function [u,s,e0]=pid0(v,s,e0,u0)
kp1=3;
ti1=600;
td1=0.000;
t=1;
kp2=8;
ti2=1000;
td2=0.0;

% pid1 algorithm
E1=s(1)-v(3);
e0(3)=E1;
u(1)=u0(1)+kp1*[e0(3)-e0(2)]+kp1*t/ti1*e0(3)+kp1*td1/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);
   
% pid2 algorithm 
E2=u(1)-v(1);
e0(6)=E2;
u(2)=u0(2)+kp2*[e0(6)-e0(5)]+kp2*t/ti2*e0(6)+kp2*td2/t*[e0(6)-2*e0(5)+e0(4)];
%u=u0+kp*[a(3)-a(2)]+kp/ti*a(3)+kp*td*[a(3)-2*a(2)+a(1)];
   e0(4)=e0(5);
   e0(5)=e0(6);