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PID算法,P/I/D各参数对控制响应的作用,matlab图解详实直观。
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PID Overview
!
"#$%
$ !$ ! !%
!$$
% ! !
!$$ !$$
%
! !% !
!%
$$%
&'% !%
(!
)*) )*) )*$$
+,-&-./
Kp = 1;
Ki = 1;
Kd = 1;
s = tf('s');
C = Kp + Ki/s + Kd*s
![](https://csdnimg.cn/release/download_crawler_static/9604381/bg2.jpg)
C =
s^2 + s + 1
-----------
s
Continuous-time transfer function.
-$,-&-.#)pid controller object)$
C = pid(Kp,Ki,Kd)
C =
1
Kp + Ki * --- + Kd * s
s
with Kp = 1, Ki = 1, Kd = 1
Continuous-time PID controller in parallel form.
&#$0$
tf(C)
ans =
s^2 + s + 1
-----------
![](https://csdnimg.cn/release/download_crawler_static/9604381/bg3.jpg)
s
Continuous-time transfer function.
The Characteristics of P, I, and D Controllers
- !$ $
)steady-state error%- !$
% - $$ ! $
$$%
) ) ) )1
%
CL RESPONSE RISE TIME OVERSHOOT SETTLING TIME S-S ERROR
Kp 23
Ki '
Kd 23 43
4/) ) ) )%
$%"
$) ) )) %
Example Problem
2$%
5!
&
![](https://csdnimg.cn/release/download_crawler_static/9604381/bg4.jpg)
6!
) )) )
7!
&
M = 1 kg
b = 10 N s/m
k = 20 N/m
F = 1 N
$$
8!
) ) )) )
Fast rise time
Minimum overshoot
No steady-state error
Open-Loop Step Response
&#$%3
s = tf('s');
P = 1/(s^2 + 10*s + 20);
step(P)
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