PID算法Matlab仿真程序和C程序.docVIP

增量式PID控制算法Matlab仿真程序 设一被控对象G（s）=50/(0.125s^2+7s),用增量式PID控制算法编写仿真程序（输入分别为单位阶跃、正弦信号，采样时间为1ms，控制器输出限幅：[-5,5],仿真曲线包括系统输出及误差曲线，并加上注释、图例）。程序如下 clear all; close all; ts=0.001; sys=tf(50,[0.125,7, 0]); dsys=c2d(sys,ts,z); [num,den]=tfdata(dsys,v); u_1=0.0;u_2=0.0; y_1=0.0;y_2=0.0; x=[0,0,0]; error_1=0; error_2=0; for k=1:1:1000 time(k)=k*ts; S=2; if S==1 kp=10;ki=0.1;kd=15; rin(k)=1; %Step Signal elseif S==2 kp=10;ki=0.1;kd=15; %Sine Signal rin(k)=0.5*sin(2*pi*k*ts); end du(k)=kp*x(1)+kd*x(2)+ki*x(3); %PID Controller u(k)=u_1+du(k); %Restricting the output of controller if u(k)=5 u(k)=5; end if u(k)=-5 u(k)=-5; end %Linear model yout(k)=-den(2)*y_1-den(3)*y_2+num(2)*u_1+num(3)*u_2; error(k)=rin(k)-yout(k); %Return of parameters u_2=u_1;u_1=u(k); y_2=y_1;y_1=yout(k); x(1)=error(k)-error_1; %Calculating P x(2)=error(k)-2*error_1+error_2; %Calculating D x(3)=error(k); %Calculating I error_2=error_1; error_1=error(k); end figure(1); plot(time,rin,b,time,yout,r); xlabel(time(s)),ylabel(rin,yout); figure(2); plot(time,error,r) xlabel(time(s));ylabel(error); 微分先行PID算法Matlab仿真程序 %PID Controler with differential in advance clear all; close all; ts=20; sys=tf([1],[60,1],inputdelay,80); dsys=c2d(sys,ts,zoh); [num,den]=tfdata(dsys,v); u_1=0;u_2=0;u_3=0;u_4=0;u_5=0; ud_1=0; y_1=0;y_2=0;y_3=0; error_1=0;error_2=0; ei=0; for k=1:1:400 time(k)=k*ts; %Linear model yout(k)=-den(2)*y_1+num(2)*u_5; kp=0.36;kd=14;ki=0.0021; rin(k)=1.0*sign(sin(0.00025*2*pi*k*ts)); error(k)=rin(k)-yout(k); ei=ei+error(k)*ts; gama=0.50; Td=kd/kp; Ti=0.5; c1=gama*Td/(gama*Td+ts); c2=(Td+ts)/(gama*Td+ts); c3=Td/(gama*Td+ts); M=1; if M==1 %PID Control with differential in advance ud(k)=c1*ud_1+c2*yout(k)-c3*y_1; u(k)=kp*error(k)+ud(k)+ki*ei; elseif M==2 %Simple PID Control u(k)=kp*error(k)+kd*(error(k)-error_1)/ts+ki*ei; end if u(k)=110 u(k)=110; end if u(k)=-110 u(k)=-110; end %Update para