增量式PID控制算法Matlab仿真程序设一被控对象G(s)=50/(0.125s^2+7s),用增量式PID控制算法编写仿真程序(输入分别为单位阶跃、正弦信号,采样时间为1ms,控制器输出限幅:[-5,5],仿真曲线包括系统输出及误差曲线,并加上注释、图例)。程序如下clear all;
close all;
ts=0.001;
sys=tf(50,[0.125,7, 0]);
dsys=c2d(sys,ts,'z');
[num,den]=tfdata(dsys,'v');
u_1=0.0;u_2=0.0;
y_1=0.0;y_2=0.0;
x=[0,0,0]';
error_1=0;
error_2=0;
for k=1:1:1000
time(k)=k*ts;
S=2;
if S==1
kp=10;ki=0.1;kd=15;
rin(k)=1; % Step Signal
elseif S==2
kp=10;ki=0.1;kd=15; %Sin e Signal
rin(k)=0.5*sin(2*pi*k*ts);
end
du(k)=kp*x(1)+kd*x(2)+ki*x(3); % PID Controller
u(k)=u_1+du(k); %Restricting the output of controller if u(k)>=5
u(k)=5;
end
if u(k)<=-5
u(k)=-5;
end
%Linear model
yout(k)=-den(2)*y_1-den(3)*y_2+nu m(2)*u_1+num(3)*u_2;
error(k)=rin(k)-yout(k);
%Return of parameters
u_2=u_1;u_1=u(k);
y_2=y_1;y_1=yout(k);
x(1)=error(k)-error_1; %C alculating P
x(2)=error(k)-2*error_1+error_2;
%Calculating D
x(3)=error(k); %Calculating I error_2=error_1;
error_1=error(k);
end
figure(1);
plot(time,rin,'b',time,yout,'r'); xlabel('time(s)'),ylabel('rin,yout'); figure(2);
plot(time,error,'r')
xlabel('time(s)');ylabel('error');
微分先行PID算法Matlab仿真程序%PID Controler with differential in advance
clear 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=1:1:400
time(k)=k*ts;
%Linear model
yout(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 advance
ud(k)=c1*ud_1+c2*yout(k)-c3*y_ 1;
u(k)=kp*error(k)+ud(k)+ki*ei; elseif M==2 %Simple PID Control u(k)=kp*error(k)+kd*(error(k)-er ror_1)/ts+ki*ei;
end
if u(k)>=110
u(k)=110;
end
if u(k)<=-110
u(k)=-110;
end
%Update parameters 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);
error_2=error_1;
error_1=error(k);
end
figure(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');
不完全微分PID算法Matlab仿真程序%PID Controler with Partial differential
clear 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=1:1:100
time(k)=k*ts;
rin(k)=1.0;
%Linear model
yout(k)=-den(2)*y_1+num(2)*u_5; error(k)=rin(k)-yout(k);
%PID Controller with partly differential
ei=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 Filter
M=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)-err or_1)+ki*ei;
end
%Restricting the output of controller if u(k)>=10
u(k)=10;
end
if u(k)<=-10
u(k)=-10;
end
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);
error_1=error(k);
end
figure(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);
C语言PID演示程序#include
#include
typedef struct PID{
double Command; //输入指令double Proportion; //比例系数double Integral; //积分系数double Derivative; //微分系数double preErr; //前一拍误差double sumErr; //误差累积
}PID;
double PIDCale(PID *p,double
feedback)
{
double dErr,Err;
Err=p->Command-feedback; //当前误差
p->sumErr+=Err; //误差累加dErr=Err-p->preErr; //误差微分p->preErr=Err;
return(p->Proportion*Err //比例项
+p->Derivative*dErr //微分项+p->Integral*p->sumErr); //积分项
}
void PIDInit(PID *p)
{
memset(p,0,sizeof(PID)); //初始化
}
typedef struct motor{
double lastY;
double preY;
double lastU;
double preU;
}motor;
void motorInit(motor *m)
{
memset(m,0,sizeof(motor));
} double motorCal(motor *m,double u)
{
double
y=1.9753*m->lastY-0.9753*m->preY+ 0.00003284*u+0.00006568*m->lastU +0.00003284*m->preU;//二阶系统
m->preY=m->lastY;
m->lastY=y;
m->preU=m->lastU;
m->lastU=u;
return y;
}
void main()
{
FILE *fp=fopen("data.txt","w+"); PID sPID;
motor m_motor;
int k=0;
double u;
double y=0;
PIDInit(&sPID);
sPID.Proportion=2;
sPID.Derivative=1;
sPID.Integral=0.00001;
https://www.docsj.com/doc/0d2989552.html,mand=10;
motorInit(&m_motor);
while(k<=1000)
{
?fprintf(fp,"%d 设定值=%f 被控量=%f 偏差=%f 控制
量
=%f\n",k,https://www.docsj.com/doc/0d2989552.html,mand,y,sPI
https://www.docsj.com/doc/0d2989552.html,mand-y,u);
u=PIDCale(&sPID,y);
y=motorCal(&m_motor,u);
k++;
}
printf("%f\n",y);
fclose(fp);
}
增量式PID控制C语言代码
增量式PID控制C语言代码
/////////////////////////////// /////////////////////////////// //
// 定义PID参数结构体
/////////////////////////////// /////////////////////////////// /
typedef struct PID {
//结构体定义
int SetPoint
//设定值
int Proportion; / / Proportion 比例系数
int Integral;
// Integral 积分系数
int Derivative;
// Derivative 微分系数
int LastError; / / Error[-1] 前一拍误差
int PreError; / / Error[-2] 前两拍误差
} PID;
main() {
PID vPID;
//定义结构变量名
PIDInit ( &vPID );
//Initialize Structure
vPID.Proportion = 10;
//Set PID Coefficients
vPID.Integral = 10;
// Set PID Integral
vPID.Derivative = 10;
// Set PID Derivative
vPID. SetPoint =
//根据实际情况设定
while(1)
{
Verror=Measure();
//得到AD的输出值
Error =vPID. SetPoint- Verr or; //与设定值比较,得到误差值tempi=PIDCal(&vPID, Error;
laser.Value+=tempi;
// Value与Num[2]为共同体,共同体名laser
LASERH=laser.Num[0];
LASERL=laser.Num[1];
}
}
/////////////////////////////// /////////////////////////////// /////////
//Title:PID参数初始化
//Description: Proportion="0"
// Integral=0
// LastError=0
//Input: PID的P、I控制常数和之前的误差量(PID *pp)
//Return:
/////////////////////////////// /////////////////////////////// ////////
void PIDInit (PID *pp)
//PID参数初始化,都置0 {
memset ( pp,0,sizeof(PID));
//memset()的函数,它可以一字节一字节地把整个数组设置为一个指定的值。
// memset()函数在mem.h头文件中声明,它把数组的起始地址作为其第一个参数,
//第二个参数是设置数组每个字节的值,第三个参数是数组的长度(字节数,不是元素个数)。
//其函数原型为:void *memset(v oid*,int,unsigned);
//头文件
}
/////////////////////////////// /////////////////////////////// /////////
//Title:增量式PID算法程序//Description:给出一个误差增量
//Input: PID的P、I控制常数和之前的误差量(PID *pp)& 当前误差量(T hisError)
//Return: 误差增量templ
/////////////////////////////// /////////////////////////////// ////////
int PIDCal( PID *pp, int ThisError ) {
//增量式PID算法(需要控制的不是控制量的绝对值,而是控制量的增量)int pError,dError,iError;
long templ;
pError = ThisError-pp->LastErr or;
iError = ThisError;
dError = ThisError-2*(pp->LastE rror)+pp->PreError;
//增量计算
templ=pp->Proportion*pError + pp->Integral*iError+pp->Derivative* dError; //增量
//存储误差用于下次运算
pp->PreError = pp->LastError;
pp->LastError = ThisError;
return ((int)(templ>>8));
}