温度控制传递函数 - 增量式PID系数 - MATLAB仿真

clear all; close all; ts=0.1;

sys=tf([5],[8,1],'inputdelay',10); 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; y_1=0;y_2=0;y_3=0; error_1=0;error_2=0; x=[0,0,0]; for k=1:1:200

time(k)=k*ts;

yout(k)=-den(2)*y_1+num(2)*u_5; rin(k)=1;

error(k)=rin(k)-yout(k); kp=1; ki=0; kd=0;

du(k)=kp*x(1)+kd*x(2)+ki*x(3); u(k)=u_1+du(k);

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); x(1)= error(k)-error_1;

x(2)= error(k)-2*error_1+error_2; x(3)= error(k); error_2=error_1; error_1=error(k); end hold on hold on

plot(time,rin,'g',time,yout,'r','linewidth',2) xlabel('time(s)') ylabel('rin,yout')

ts=0.1;

sys=tf([5],[8,1],'inputdelay',10); 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; y_1=0;y_2=0;y_3=0; error_1=0;error_2=0; x=[0,0,0]; for k=1:1:200

time(k)=k*ts;

yout(k)=-den(2)*y_1+num(2)*u_5; rin(k)=1;

error(k)=rin(k)-yout(k); kp=2; ki=0; kd=0;

du(k)=kp*x(1)+kd*x(2)+ki*x(3); u(k)=u_1+du(k);

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); x(1)= error(k)-error_1;

x(2)= error(k)-2*error_1+error_2; x(3)= error(k); error_2=error_1; error_1=error(k); end hold on

plot(time,yout,'b','linewidth',2) xlabel('time(s)') ylabel('rin,yout')

ts=0.1;

sys=tf([5],[8,1],'inputdelay',10); 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; y_1=0;y_2=0;y_3=0; error_1=0;error_2=0; x=[0,0,0]; for k=1:1:200

time(k)=k*ts;

yout(k)=-den(2)*y_1+num(2)*u_5; rin(k)=1;

error(k)=rin(k)-yout(k); kp=3; ki=0; kd=0;

du(k)=kp*x(1)+kd*x(2)+ki*x(3); u(k)=u_1+du(k);

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); x(1)= error(k)-error_1;

x(2)= error(k)-2*error_1+error_2; x(3)= error(k); error_2=error_1; error_1=error(k); end hold on

plot(time,yout,'m','linewidth',2) xlabel('time(s)') ylabel('rin,yout')

图像：ki=0，kd=0

Kp：红色kp=1，蓝色kp=2，品红kp=3

clear all; close all; ts=0.1;

sys=tf([5],[8,1],'inputdelay',10); 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; y_1=0;y_2=0;y_3=0; error_1=0;error_2=0; x=[0,0,0]; for k=1:1:200

time(k)=k*ts;

yout(k)=-den(2)*y_1+num(2)*u_5; rin(k)=1;

error(k)=rin(k)-yout(k); kp=2; ki=0.01; kd=0;

du(k)=kp*x(1)+kd*x(2)+ki*x(3); u(k)=u_1+du(k);

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); x(1)= error(k)-error_1;

x(2)= error(k)-2*error_1+error_2; x(3)= error(k); error_2=error_1; error_1=error(k);

end hold on hold on

plot(time,rin,'g',time,yout,'r','linewidth',2) xlabel('time(s)') ylabel('rin,yout')

ts=0.1;

sys=tf([5],[8,1],'inputdelay',10); 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; y_1=0;y_2=0;y_3=0; error_1=0;error_2=0; x=[0,0,0]; for k=1:1:200

time(k)=k*ts;

yout(k)=-den(2)*y_1+num(2)*u_5; rin(k)=1;

error(k)=rin(k)-yout(k); kp=2; ki=0.02; kd=0;

du(k)=kp*x(1)+kd*x(2)+ki*x(3); u(k)=u_1+du(k);

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);

x(1)= error(k)-error_1;

x(2)= error(k)-2*error_1+error_2; x(3)= error(k); error_2=error_1; error_1=error(k); end hold on

plot(time,yout,'b','linewidth',2) xlabel('time(s)') ylabel('rin,yout')

ts=0.1;

sys=tf([5],[8,1],'inputdelay',10); 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; y_1=0;y_2=0;y_3=0; error_1=0;error_2=0; x=[0,0,0]; for k=1:1:200

time(k)=k*ts;

yout(k)=-den(2)*y_1+num(2)*u_5; rin(k)=1;

error(k)=rin(k)-yout(k); kp=2; ki=0.05; kd=0;

du(k)=kp*x(1)+kd*x(2)+ki*x(3); u(k)=u_1+du(k);

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); x(1)= error(k)-error_1;

x(2)= error(k)-2*error_1+error_2; x(3)= error(k); error_2=error_1; error_1=error(k); end hold on

plot(time,yout,'m','linewidth',2) xlabel('time(s)') ylabel('rin,yout')

图像：kp=2，kd=0

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