CHAPTER1.rar_U1DM_先进PID控制

%PID Controller with Partial differential clear all; close all; ts=0.001; sys=tf(5.235e005,[1,87.35,1.047e004,0]); dsys=c2d(sys,ts,'z'); [num,den]=tfdata(dsys,'v'); u_1=0;u_2=0;u_3=0;u_4=0;u_5=0; y_1=0;y_2=0;y_3=0; yy_1=0; error_1=0;error_2=0;ei=0; kp=0.20;ki=0.05; sys1=tf([1],[0.04,1]); %Low Freq Signal Filter dsys1=c2d(sys1,ts,'tustin'); [num1,den1]=tfdata(dsys1,'v'); f_1=0; M=3; for k=1:1:1000 time(k)=k*ts; rin(k)=20; %Step Signal %Linear model yout(k)=-den(2)*y_1-den(3)*y_2-den(4)*y_3+num(2)*u_1+... num(3)*u_2+num(4)*u_3; if M==1 %No disturbance signal error(k)=rin(k)-yout(k); filty(k)=yout(k); end D(k)=5.0*rands(1); %Disturbance signal yyout(k)=yout(k)+D(k); if M==2 %No filter filty(k)=yyout(k); error(k)=rin(k)-filty(k); end if M==3 %Using low frequency filter filty(k)=-den1(2)*f_1+num1(1)*(yyout(k)+yy_1); error(k)=rin(k)-filty(k); end %I separation if abs(error(k))<=0.8 ei=ei+error(k)*ts; else ei=0; end u(k)=kp*error(k)+ki*ei; if u(k)>=10 % Restricting the output of controller u(k)=10; end if u(k)<=-10 u(k)=-10; end %----------Return of PID parameters------------ rin_1=rin(k); u_5=u_4;u_4=u_3;u_3=u_2;u_2=u_1;u_1=u(k); y_3=y_2;y_2=y_1;y_1=yout(k); f_1=filty(k); yy_1=yyout(k); error_2=error_1; error_1=error(k); end figure(1); subplot(211); plot(time,rin,'b',time,filty,'r'); xlabel('time(s)');ylabel('rin,yout'); subplot(212); plot(time,u,'r'); xlabel('time(s)');ylabel('u'); figure(2); plot(time,D,'r'); xlabel('time(s)');ylabel('Disturbance signal');