Matlab串联pid,[转载]matlab与自控原理(连续系统的数字PID控制仿真）

在《先进PID控制MATLAB仿真》中有这样一个例子：

被控对象为一电动机模型的传递函数： ，式中，J=0.0067，B=0.10。输入指令信号为,

利用ODE45求解连续对象方程，采用PID控制方法设计控制器，其中

控制主程序如下:

%Discrete PID control for continuous plant

clear all;

close all;

ts=0.001; %Sampling time

xk=zeros(2,1);

e_1=0;

u_1=0;

for k=1:1:2000

time(k) = k*ts;

rin(k)=0.50*sin(1*2*pi*k*ts);

para=u_1; % D/A

tSpan=[0 ts];

[tt,xx]=ode45('chap1_6f',tSpan,xk,[],para);

xk =

xx(length(xx),:); % A/D

yout(k)=xk(1);

e(k)=rin(k)-yout(k);

de(k)=(e(k)-e_1)/ts;

u(k)=20.0*e(k)+0.50*de(k);

%Control limit

if u(k)>10.0

u(k)=10.0;

end

if u(k)

u(k)=-10.0;

end

u_1=u(k);

e_1=e(k);

end

figure(1);

plot(time,rin,'r',time,yout,'b');

xlabel('time(s)'),ylabel('rin,yout');

figure(2);

plot(time,rin-yout,'r');

xlabel('time(s)'),ylabel('error');

连续对象子函数：chap1_6f.m

function dy = PlantModel(t,y,flag,para)

u=para;

J=0.0067;B=0.1;

dy=zeros(2,1);

dy(1) = y(2);

dy(2) = -(B/J)*y(2) + (1/J)*u;

根据函数句柄和匿名函数的定义，程序可修改为如下形式：

%Discrete PID control for continuous plant

clear all;

close all;

ts=0.001; %Sampling time

xk=zeros(2,1);

e_1=0;

u_1=0;

for k=1:1:2000

time(k) = k*ts;

rin(k)=0.50*sin(1*2*pi*k*ts);

para=u_1; % D/A

tSpan=[0 ts];

J=0.0067;B=0.1;

PlantModel =@(t,xk,para)([ xk(2); -(B/J)*xk(2) + (1/J)*u_1])

;

[tt,xx]=ode45(PlantModel,tSpan,xk, [],para);

xk =

xx(length(xx),:); % A/D

yout(k)=xk(1);

e(k)=rin(k)-yout(k);

de(k)=(e(k)-e_1)/ts;

u(k)=20.0*e(k)+0.50*de(k);

%Control limit

if u(k)>10.0

u(k)=10.0;

end

if u(k)

u(k)=-10.0;

end

u_1=u(k);

e_1=e(k);

end

figure(1);

plot(time,rin,'r',time,yout,'b');

xlabel('time(s)'),ylabel('rin,yout');

figure(2);

plot(time,rin-yout,'r');

xlabel('time(s)'),ylabel('error');

figure1

figure2