ExpertPID.rar_K._pid_专家PID_专家控制_专家控制；PID

%Expert PID Controller clear all; close all; ts=0.001; sys=tf(5.235e005,[1,87.35,1.047e004,0]); %tf is used to create real-or complex-valued transfer function models (TF objects) or to convertstate-space or zero-pole-gain models to transfer function form. dsys=c2d(sys,ts,'z');%returns a matrix, G that maps the continuous initial conditions x0 and u0 of the state-space model sys to the discrete-time initial state vector x[0]. [num,den]=tfdata(dsys,'v'); %returns the numerator(s) and denominator(s) of the transfer function for the TF, SS or ZPK model (or LTI array of TF, SS or ZPK models) sys. u_1=0;u_2=0;u_3=0; y_1=0;y_2=0;y_3=0; x=[0,0,0]'; x2_1=0; kp=0.6; ki=0.03; kd=0.01; error_1=0; for k=1:1:500 time(k)=k*ts; r(k)=1.0; %Tracing Step Signal u(k)=kp*x(1)+kd*x(2)+ki*x(3); %PID Controller %Expert control rule if abs(x(1))>0.8 %Rule1:Unclosed control rule u(k)=0.45; elseif abs(x(1))>0.40 u(k)=0.40; elseif abs(x(1))>0.20 u(k)=0.12; elseif abs(x(1))>0.01 u(k)=0.10; end if x(1)*x(2)>0|(x(2)==0) %Rule2 if abs(x(1))>=0.05 u(k)=u_1+2*kp*x(1); else u(k)=u_1+0.4*kp*x(1); end end if (x(1)*x(2)<0&x(2)*x2_1>0)|(x(1)==0) %Rule3 u(k)=u(k); end if x(1)*x(2)<0&x(2)*x2_1<0 %Rule4 if abs(x(1))>=0.05 u(k)=u_1+2*kp*error_1; else u(k)=u_1+0.6*kp*error_1; end end if abs(x(1))<=0.001 %Rule5:Integration separation PI control u(k)=0.5*x(1)+0.010*x(3); end %Restricting the output of controller if u(k)>=10 u(k)=10; end if u(k)<=-10 u(k)=-10; end %Linear model y(k)=-den(2)*y_1-den(3)*y_2-den(4)*y_3+num(1)*u(k)+num(2)*u_1+num(3)*u_2+num(4)*u_3; error(k)=r(k)-y(k); %----------Return of parameters------------% u_3=u_2;u_2=u_1;u_1=u(k); y_3=y_2;y_2=y_1;y_1=y(k); x(1)=error(k); % Calculating P x2_1=x(2); x(2)=(error(k)-error_1)/ts; % Calculating D x(3)=x(3)+error(k)*ts; % Calculating I error_1=error(k); end figure(1); plot(time,r,'b',time,y,'r'); xlabel('time(s)');ylabel('r,y'); figure(2); plot(time,r-y,'r'); xlabel('time(s)');ylabel('error');