matlab调节时间算法,MATLAB时间最优PID控制算法

MATLAB时间最优PID控制算法

function [ output_args ] = Untitled3( input_args )

%UNTITLED3 Summary of this function goes here

% Detailed explanation goes here

clear all;

close all;

ts=20;

sys=tf([1],[60,1],'inputdelay',80);

dsys=c2d(sys,ts,'zoh');

[num,den]=tfdata(dsys,'v');

u1=0;u2=0;u3=0;u4=0;u5=0;

y1=0;y2=0;y3=0;

error1=0;error2=0;

ei=0;

for k=1:1:200

time(k)=k*ts;

yd(k)=1.0;

y(k)=-den(2)*y1+num(2)*u5;

error(k)=yd(k)-y(k);

kp=0.45;kd=12;ki=0.0048;

A=0.4;B=0.6;

ei=ei+(error(k)+error1)/2*ts;

M=1;

if M==1

if abs(error(k))<=B

f(k)=1;

elseif abs(error(k))>B&abs(error(k))<=A+B

f(k)=(A-abs(error(k))+B)/A;

else f(k)=0;

end

elseif M==2

f(k)=1;

end

u(k)=kp*error(k)+kd*(error(k)-error1)/ts+ki*f(k)*ei;

if u(k)>=10

u(k)=10;

end

if u(k)<=-10

u(k)=-10;

end

u5=u4;u4=u3;u3=u2;u2=u1;u1=u(k);