不完全微分PID算法Matlab仿真程序

%PID Controler with Partial differentialclear 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=1:1:100time(k)=k*ts;rin(k)=1.0;%Linear modelyout(k)=-den(2)*y_1+num(2)*u_5;error(k)=rin(k)-yout(k);%PID Controller with partly differentialei=ei+error(k)*ts;kc=0.30;ki=0.0055;TD=140;kd=kc*TD/ts;Tf=180;Q=tf([1],[Tf,1]);   %Low Freq Signal FilterM=2;if M==1      %Using PID with Partial differential加在简单PID后的不完全微分alfa=Tf/(ts+Tf);u(k)=alfa*u_1+(1-alfa)*(kc*error(k)+kd*(error(k)-error_1)+ki*ei);   u_1=u(k);elseif M==2      %Using PID with Partial differential只加在微分环节上的不完全微分        alfa=Tf/(ts+Tf);ud(k)=kd*(1-alfa)*(error(k)-error_1)+alfa*ud_1;u(k)=kc*error(k)+ud(k)+ki*ei;        ud_1=ud(k);elseif M==3  %Using Simple PID  简单的PID微分u(k)=kc*error(k)+kd*(error(k)-error_1)+ki*ei;end%Restricting the output of controllerif u(k)>=10   u(k)=10;endif u(k)<=-10   u(k)=-10;endu_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_1=error(k);endfigure(1);plot(time,rin,'b',time,yout,'r');xlabel('time(s)');ylabel('rin,yout');figure(2);plot(time,u,'r');xlabel('time(s)');ylabel('u');figure(3);plot(time,rin-yout,'r');xlabel('time(s)');ylabel('error');figure(4);bode(Q,'r');dcgain(Q);