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    發(fā)布日期: 2021-06-12
  • 語(yǔ)言: Matlab
  • 標(biāo)簽: 增量式PID??

資源簡(jiǎn)介

非常實(shí)用的 增量式PID算法PDF文檔+MATLAB源程序,完全測(cè)試通過(guò)

資源截圖

代碼片段和文件信息

%Increment?PID?Controller
clear?all;
close?all;

ts=0.001;
sys=tf(400[1500]);
dsys=c2d(systs‘z‘);
[numden]=tfdata(dsys‘v‘);

u_1=0.0;u_2=0.0;u_3=0.0;
y_1=0;y_2=0;y_3=0;

x=[000]‘;

error_1=0;
error_2=0;
for?k=1:1:1000
???time(k)=k*ts;
???
???rin(k)=1.0;
???kp=8;
???ki=0.10;
???kd=10;
???
???du(k)=kp*x(1)+kd*x(2)+ki*x(3);?
???u(k)=u_1+du(k);

???if?u(k)>=10
??????u(k)=10;
???end
???if?u(k)<=-10
??????u(k)=-10;
???end???
???yout(k)=-den(2)*y_1-den(3)*y_2+num(2)*u_1+num(3)*u_2;
???
???error=rin(k)-yout(k);
???u_3=u_2;u_2=u_1;u_1=u(k);
???y_3=y_2;y_2=y_1;y_1=yout(k);
???
???x(1)=error-error_1;?????????????%Calculating?P
???x(2)=error-2*error_1+error_2;???%Calculating?D
???x(3)=error;?????????????????????%Calculating?I
???
???error_2=error_1;
???error_1=error;
end
plot(timerin‘b‘timeyout‘r‘);
xlabel(‘time(s)‘);ylabel(‘rinyout‘);

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----

?????文件??????22531??2018-01-21?16:45??增量式PID控制算法及仿真程序.pdf

?????文件????????897??2004-06-13?12:19??chap1_12.m

-----------?---------??----------?-----??----

????????????????23428????????????????????2


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