微分先行PID算法Matlab仿真程序

%PID Controler with differential in advanceclear 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;error_2=0;ei=0;for k=1:1:400time(k)=k*ts;%Linear modelyout(k)=-den(2)*y_1+num(2)*u_5;kp=0.36;kd=14;ki=0.0021;rin(k)=1.0*sign(sin(0.00025*2*pi*k*ts));error(k)=rin(k)-yout(k);ei=ei+error(k)*ts;gama=0.50;Td=kd/kp;Ti=0.5;c1=gama*Td/(gama*Td+ts);c2=(Td+ts)/(gama*Td+ts);c3=Td/(gama*Td+ts);M=1;if M==1      %PID Control with differential in advanceud(k)=c1*ud_1+c2*yout(k)-c3*y_1;u(k)=kp*error(k)+ud(k)+ki*ei;elseif M==2  %Simple PID Controlu(k)=kp*error(k)+kd*(error(k)-error_1)/ts+ki*ei;endif u(k)>=110   u(k)=110;endif u(k)<=-110   u(k)=-110;end%Update parametersu_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_2=error_1;error_1=error(k);endfigure(1);plot(time,rin,'r',time,yout,'b');xlabel('time(s)');ylabel('rin,yout');figure(2);plot(time,u,'r');xlabel('time(s)');ylabel('u');