基于Matlab GUI 设计了PID控制器调参界面源码+GUI界面+详细文档+全部资料（高分项目）.zip

function varargout = pid_model(varargin) % PID_MODEL MATLAB code for pid_model.fig % PID_MODEL, by itself, creates a new PID_MODEL or raises the existing % singleton*. % % H = PID_MODEL returns the handle to a new PID_MODEL or the handle to % the existing singleton*. % % PID_MODEL('CALLBACK',hObject,eventData,handles,...) calls the local % function named CALLBACK in PID_MODEL.M with the given input arguments. % % PID_MODEL('Property','Value',...) creates a new PID_MODEL or raises the % existing singleton*. Starting from the left, property value pairs are % applied to the GUI before pid_model_OpeningFcn gets called. An % unrecognized property name or invalid value makes property application % stop. All inputs are passed to pid_model_OpeningFcn via varargin. % % *See GUI Options on GUIDE's Tools menu. Choose "GUI allows only one % instance to run (singleton)". % % See also: GUIDE, GUIDATA, GUIHANDLES % Edit the above text to modify the response to help pid_model % Last Modified by GUIDE v2.5 17-Dec-2019 11:26:00 % Begin initialization code - DO NOT EDIT gui_Singleton = 1; gui_State = struct('gui_Name', mfilename, ... 'gui_Singleton', gui_Singleton, ... 'gui_OpeningFcn', @pid_model_OpeningFcn, ... 'gui_OutputFcn', @pid_model_OutputFcn, ... 'gui_LayoutFcn', [] , ... 'gui_Callback', []); if nargin && ischar(varargin{1}) gui_State.gui_Callback = str2func(varargin{1}); end if nargout [varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:}); else gui_mainfcn(gui_State, varargin{:}); end % End initialization code - DO NOT EDIT % --- Executes just before pid_model is made visible. function pid_model_OpeningFcn(hObject, eventdata, handles, varargin) % This function has no output args, see OutputFcn. % hObject handle to figure % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % varargin command line arguments to pid_model (see VARARGIN) % Choose default command line output for pid_model handles.output = hObject; % Update handles structure guidata(hObject, handles); % UIWAIT makes pid_model wait for user response (see UIRESUME) % uiwait(handles.figure1); % --- Outputs from this function are returned to the command line. function varargout = pid_model_OutputFcn(hObject, eventdata, handles) % varargout cell array for returning output args (see VARARGOUT); % hObject handle to figure % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % Get default command line output from handles structure varargout{1} = handles.output; % --- Executes on button press in pushbutton1. function pushbutton1_Callback(hObject, eventdata, handles) % hObject handle to pushbutton1 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) %%%PID控制算法 ts=0.5; %采样时间=0.5s sys=tf(4,[1 2 0]);%建立被控对象传递函数 dsys=c2d(sys,ts,'z');%离散化,表示为z传递函数的形式 [num,den]=tfdata(dsys,'v');%输出num和den，分别代表差分方程分子与分母的系数 e_1=0; %初始化k-1时刻的偏差 e_2=0; u_1=0.0; %初始化k-1时刻时刻的输入量 u_2=0.0; y_1=0; %初始化k-1时刻时刻的输出量 y_2=0; %PID参数 global Kp; global Ki; global Kd; u=zeros(1,100);%数组的大小 time=zeros(1,100);%初始化数组的大小 ts=0.5; for k=1:1:100 time(k)=k*ts; %时间参数由 1 时刻开始 r(k)=1; %期望值 y(k)=-1*den(3)*y_2-den(2)*y_1+num(3)*u_2+num(2)*u_1+num(1)*u(k);% 初始化系统响应输出序列，与前一时刻的输出有关（这就是差分方程） e(k)=r(k)-y(k); %期望输出与实际输出之间的差值，代表误差信号 u(k)=Kp*(e(k)-e_1)+Ki*e(k)+Kd*(e(k)-2*e_1+e_2); %系统PID控制器输出序列 u_2=u_1; y_2=y_1; e_2=e_1; u_1=u(k); %前一个的控制器输出值 y_1=y(k); %前一个的系统响应输出值 e_1=e(k); %前一个误差信号的值 end maxy=max(y); axes(handles.axes1); p1=plot(time,r,'-.');xlim([0,50]);hold on;%指令信号的曲线（即期望输入） p2=plot(time,y);xlim([0,50]);ylim([0,maxy+0.07]);xlabel('t(s)');ylabel('yout');hold on;%不含积分分离的PID曲线 title('PID响应--时间') %峰值时间 for k=1:1:100 if (y(k)==maxy) Tp=ts*k; break; end end %最大值不超过1的情况 if maxy<=0.98 set(handles.Trise,'String','无穷大'); set(handles.Tover,'String','无'); set(handles.Tpeak,'String',Tp); set(handles.ess,'String',y(99)-1); end %最大值超过1 if maxy>0.98 for k=2:1:99 if (y(k)<1)&&(y(k+1)>=0.998) Tr=ts*k; break; end end end if maxy>0.98 set(handles.Tpeak,'String',Tp); set(handles.Trise,'String',Tr); set(handles.Tover,'String',maxy-1); set(handles.ess,'String',y(99)-1); end maxy y(99)-1 % --- Executes on button press in pushbutton2. function pushbutton2_Callback(hObject, eventdata, handles) % hObject handle to pushbutton2 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % 重置清空图片 cla(handles.axes1,'reset'); function Kp_Callback(hObject, eventdata, handles) % hObject handle to Kp (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) global Kp; Kp=str2double(get(hObject,'String')); % Hints: get(hObject,'String') returns contents of Kp as text % str2double(get(hObject,'String')) returns contents of Kp as a double % --- Executes during object creation, after setting all properties. function Kp_CreateFcn(hObject, eventdata, handles) % hObject handle to Kp (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles empty - handles not created until after all CreateFcns called % Hint: edit controls usually have a white background on Windows. % See ISPC and COMPUTER. if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) set(hObject,'BackgroundColor','white'); end function Ki_Callback(hObject, eventdata, handles) % hObject handle to Ki (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) global Ki; Ki=str2double(get(hObject,'String')); % Hints: get(hObject,'String') returns contents of Ki as text % str2double(get(hObject,'String')) returns contents of Ki as a double % --- Executes during object creation, after setting all properties. function Ki_CreateFcn(hObject, eventdata, handles) % hObject handle to Ki (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles empty - handles not created until after all CreateFcns called % Hint: edit controls usually have a white background on Windows. % See ISPC and COMPUTER. if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) set(hObject,'BackgroundColor','white'); end function Kd_Callback(hObject, eventdata, handles) % hObject handle to Kd (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) global Kd; Kd=str2double(get(hObject,'String')); % Hints: get(hObject,'String') returns contents of Kd as text % str2double(get(hObject,'String')) returns contents of Kd as a double % --- Executes during object creation, after setting all properties. function Kd_CreateFcn(hObject, eventdata, handles) % hObject handle to Kd (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles empty - handles not created until after all CreateFcns called % Hint: edit controls usually have a white background on Windows. % See ISPC and COMPUTER. if ispc && iseq