matlab-PID控制参数计算方法性能对比仿真,对比Ziegler-Nichols算法和IAE算法-源码

clc; clear; close all; warning off; addpath(genpath(pwd)); Tup = 1; th = 4.57; A = 1; tfn = 160; pruido = 0; tao = 28.22; kp = 1.747; num = kp; den = [tao 1]; %=========================================================================% % -------------------- Zigler Nichols PID -------------------------------% %%Ganancias Proporcionales Kc1 = (tao/(kp*th)); Kc2 = ((0.9*tao)/(kp*th))*0.1; Kc3 = ((1.2*tao)/(kp*th))*0.1; %%Tiempos integrales Ti2 = 3.33*th; Ti3 = 2*th; %%Tiempo derivativo Td3 = 0.5*th; %%Simulink sim('ModelosCom'); %%Graficacion figure; r = DataOut.signals(1).values; y = DataOut.signals(2).values; p1 = DataOut.signals(3).values; pi1 = DataOut.signals(4).values; pid1 = DataOut.signals(5).values; plot(tout,r,tout,y,tout,p1,tout,pi1,tout,pid1,'LineWidth',1); title('Zigler') legend('r(t)','y(t)','p','pi','pid'); grid; %=========================================================================% % ----------------------------- IAE PID ----------------------------------% %%Ganancias Proporcionales Kc1 = (0.902/kp)*((th/tao)^-0.985); Kc2 = ((0.984/kp)*((th/tao)^-0.986))*0.1; Kc3 = ((1.435/kp)*((th/tao)^-0.921))*0.1; %%Tiempos integrales Ti2 = (tao/0.608)*((th/tao)^0.707); Ti3 = (tao/0.878)*((th/tao)^0.749); %%Tiempo derivativo Td3 = (0.482*tao)*((th/tao)^1.137); %%Simulink sim('ModelosCom'); figure; r = DataOut.signals(1).values; y = DataOut.signals(2).values; p2 = DataOut.signals(3).values; pi2 = DataOut.signals(4).values; pid2 = DataOut.signals(5).values; plot(tout,r,tout,y,tout,p2,tout,pi2,tout,pid2,'LineWidth',1); title('IAE') legend('r(t)','y(t)','p','pi','pid'); grid; %======================= GRAFICAS - COMPARAR =============================% figure; subplot(3,1,1) plot(tout,r,tout,p1,tout,p2,'LineWidth',1) title('(P) Zigler vs IAE') legend('r(t)','Zigler','IAE'); grid; %-------------------------------------------------------------------------% subplot(3,1,2) plot(tout,r,tout,pi1,tout,pi2,'LineWidth',1) title('(PI) Zigler vs IAE') legend('r(t)','Zigler','IAE'); grid; %-------------------------------------------------------------------------% subplot(3,1,3) plot(tout,r,tout,pid1,tout,pid2,'LineWidth',1) title('(PID) Zigler vs IAE') legend('r(t)','Zigler','IAE'); grid; %-------------------------------------------------------------------------%