基于Matlab伺服系统PID控制（源码）.rar

%PID Control with Stribeck Friction Model clear all; close all; global w A alfa J Ce R Km Ku S a1 Fm Fc M kv %Servo system Parameters J=0.6;Ce=1.2;Km=6; Ku=11;R=7.77; A=0.10; w=1*2*pi; alfa=0.01; T=1.0; ts=0.001; %Sampling time TimeSet=[0:ts:T]; M=1; %If M=0, No Friction works S=1; [t,x]=ode45('chap11_2plant',TimeSet,[0,0,0]); x1=x(:,1); x2=x(:,2); x3=x(:,3); if S==1 yd=A*sin(w*t); dyd=A*w*cos(w*t); ddyd=-A*w*w*sin(w*t); error=yd-x(:,1); derror=dyd-x(:,2); end if S==2 for kk=1:1:T/ts+1 yd(kk)=1; dyd(kk)=0; ddyd(kk)=0; error(kk)=yd(kk)-x1(kk); derror(kk)=dyd(kk)-x2(kk); end end if S==3 for kk=1:1:T/ts+1 yd=A*sign(sin(0.4*2*pi*t)); dyd(kk)=0; ddyd(kk)=0; error(kk)=yd(kk)-x1(kk); derror(kk)=dyd(kk)-x2(kk); end end F=J*x(:,3); x2=x(:,2); for kk=1:1:T/ts+1 time(kk)=(kk-1)*ts; if abs(x2(kk))<=alfa if F(kk)>Fm Ff(kk)=Fm; elseif F(kk)<-Fm Ff(kk)=-Fm; else Ff(kk)=F(kk); end end if x2(kk)>alfa Ff(kk)=Fc+(Fm-Fc)*exp(-a1*x2(kk))+kv*x2(kk); elseif x2(kk)<-alfa Ff(kk)=-Fc-(Fm-Fc)*exp(a1*x2(kk))+kv*x2(kk); end if M==0 Ff(kk)=0; %No Friction end u(kk)=200*error(kk)+40*derror(kk); %PID Control if u(kk)>=10 u(kk)=10; end if u(kk)<=-10 u(kk)=-10; end end figure(1); plot(t,yd,'r',t,x(:,1),'k','linewidth',2); xlabel('time(s)');ylabel('position tracking'); legend('ideal position signal','position tracking'); figure(2); plot(t,dyd,'r',t,x(:,2),'k','linewidth',2); xlabel('time(s)');ylabel('speed tracking'); legend('ideal speed signal','speed tracking'); figure(3); plot(t,error,'r','linewidth',2); xlabel('time(s)');ylabel('error'); figure(4); plot(x(:,2),Ff,'r','linewidth',2); xlabel('speed');ylabel('Friction'); figure(5); plot(t,Ff,'r','linewidth',2); xlabel('time(s)');ylabel('Friction'); figure(6); plot(time,u,'r','linewidth',2); xlabel('time(s)');ylabel('Control input');