计算机控制PID编程实现.docx

实验一 DDC单回路PID控制实验指导书一 实验目的 通过实验掌握DDC单回路PID控制程序编制及调试方法。二 实验内容 控制系统如图所示， G(S)= K1 / (1+T1S)2 D(Z)采用数字PID控制规律，T为采样周期。对象动态特性实验 将G(S)离散化，写出输入/输出差分方程。 （不必考虑零阶保持器） 用C语言编制程序。 取三个不同采样周期，绘制当输入U1为阶跃给定值时，输出的响应曲线，并打印。单回路PID控制实验 (1) 根据上述动态特性曲线，采用工程整定方法整定PID参数。(2) 采用具有积分分离的数字PID算法，并进行以下三个实验：无积分分离或阀值β过大；β适中β过小(3)用C或C++语言编制程序。按以上3种情况，绘制当r(t)=1时，y(t)和u(t)的阶跃响应曲线，并打印。分别改变Kp,Ti,Td，并观察它们对调节品质的影响。三 实验步骤1.对象动态特性实验（1）差分方程见附录：（2）编制程序如下：#includeiostream.h#includefstream.hvoid main(){fstream outfile(data1.xls,ios::out);int i,j;int t;for(j=0;j3;j++){cout输入采样周期:;cint;double u[100];double y[100];for(i=0;i100;i++){u[i]=1.0;y[i]=0.0;}for(i=2;(i-2)*t100;i++){y[i]=u[i]/(1.0+100.0/t/t+20.0/t)-(100.0/t/t)*y[i-2]/(1.0+100.0/t/t+20.0/t)+(200.0/t/t+20.0/t)*y[i-1]/(1.0+100.0/t/t+20.0/t);}for(i=1;(i-1)*t100;i++)couty[i]\t;for(i=2;(i-2)*t100;i++){outfile(i-2)*t\t;}outfile\n;for(i=1;(i-1)*t100;i++){outfiley[i]\t;}outfile\n;}outfile.close();}（3）输出结果如下：周期T=1：0 0.00826446004378120.06861801276310.1602870.1942150.2289130.2639630.2990120.3337720.3680050.401520.4341640.4658190.4963950.5258270.5540690.5810950.6068930.6314620.6548130.6769640.697940.7177730.7364950.7541460.7707660.7863950.8010780.8148560.8277730.8398720.8511940.8617810.8716730.8809080.8895250.897560.9050470.9120190.9185080.9245440.9301570.9353720.9402170.9447150.9488890.9527610.9563510.9596790.9627630.9656190.9682640.9707120.9729770.9750720.977010.9788020.9804570.9819870.98340.9847050.985910.9870230.9880490.9889960.989870.9906760.9914190.9921040.9927350.9933170.9938530.9943470.9948020.9952210.9956060.9959610.9962880.9965890.9968660.997120.9973550.997570.9977680.997950.9981180.9982720.9984130.9985430.9986630.9987730.9988740.9989670.9990520.999130.990937周期T=2：0007407410.1319440.1962450.2632240.3302040.3953230.4573410.5154830.5693180.6186670.663530.7040310.7403780.7728310.8016780.8272190.8497560.869580.8869690.9021850.9154680.9270410.9371040.945840.9534110.9599620.9656240.9705110.9747240.9783510.9814720.9841540.9864560.