反应釜CSTR模型

clc clear all u0=103.41; x0=[0.100012897700033,438.541660476007;]; xx(1,:)=x0; u=103.41; uu(1)=103.41; N=5000;j=0; Ts=0.1; Kp1=3;Ti1=0.5;Td1=0.5; Xd_sp=0.100012897700033;%Xd设定值 ed_1=0;ed_2=0; ud_1=103.41; for i=1:N if i>100 Xd_sp=0.14; end uu(i+1)=u; % xx(i+1,:)=RK4_model(xx(i,:),u) x0=RK4_model(x0,u); Xd(i)=x0(1); xx(i+1,1)=Xd(i); xx(i+1,2)=x0(2); ed(i)=Xd_sp-Xd(i); dud(i)=Kp1*((ed(i)-ed_1)+Ts/Ti1*ed(i)+Td1/Ts*(ed(i)-2*ed_1+ed_2)); ud(i)=ud_1+dud(i); u=ud(i); if i>2000 u=ud(i)+1*sin(j*3.14*0.002); j=j+1; end ud_1=ud(i); ed_2=ed_1; ed_1=ed(i); end tt=0:0.1:0.1*N; figure(1) subplot(2,1,1) hold on stairs(tt,uu,'g-','LineWidth',1) xlabel('Time,min') ylabel('u') grid subplot(2,1,2) hold on plot(tt,xx(:,1),'g-','LineWidth',1) xlabel('Time,min') ylabel('Pp') grid