PID算法Matlab仿真程序和C程序

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; %Sin e 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+nu m(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; %C alculating 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)-er ror_1)/ts+ki*ei;

end

if u(k)>=110

u(k)=110;

end

if u(k)<=-110

u(k)=-110;

end

%Update parameters u_5=u_4;u_4=u_3;u_3=u_2;u_2=u_1; u_1=u(k);

y_3=y_2;y_2=y_1;y_1=yout(k);

error_2=error_1;

error_1=error(k);

end

figure(1);

plot(time,rin,'r',time,yout,'b'); xlabel('time(s)');ylabel('rin,yout'); figure(2);

plot(time,u,'r');

xlabel('time(s)');ylabel('u');

不完全微分PID算法Matlab仿真程序%PID Controler with Partial differential

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;

ei=0;

for k=1:1:100

time(k)=k*ts;

rin(k)=1.0;

%Linear model

yout(k)=-den(2)*y_1+num(2)*u_5; error(k)=rin(k)-yout(k);