PID.rar_干扰 PID matlab_解耦_轧

%PID Controller for coupling plant clear all; close all; u1_1=0.0;u1_2=0.0;u1_3=0.0;u1_4=0.0;u1_5=0.0;u1_6=0.0;u1_7=0.0;u1_8=0.0; u2_1=0.0;u2_2=0.0;u2_3=0.0;u2_4=0.0;u2_5=0.0;u2_6=0.0;u2_7=0.0;u2_8=0.0; y1_1=0;y1_2=0;y1_3=0;y1_4=0;y1_5=0;y1_6=0;y1_7=0; y2_1=0;y2_2=0;y2_3=0;y2_4=0;y2_5=0;y2_6=0;y2_7=0; x1=[0;0];x2=[0;0];x3=[0;0];%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 两通道初始值 kp1=0.0155;%0.0155 ki1=0.039;%0.055 kd1=0;%0 kp2=0.785;%0.785 ki2=16.59;%19.59 kd2=0;%0.0001 error_1=[0;0];%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 两路 误差初始值 ts=0.02; for k=1:1:1000 time(k)=k*ts; if k>400 %d(k)=0; d(k)=0.06*sin(10*pi*time(k));%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 干扰值 if k>500 d(k)=0; end else d(k)=0; end %Step Signal %R=[1;0]; R=[0;1];%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 给定值 %PID Decouple Controller u1(k)=kp1*x1(1)+kd1*x2(1)+ki1*x3(1); u2(k)=kp2*x1(2)+kd2*x2(2)+ki2*x3(2); u=[u1(k),u2(k)];%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% if u1(k)>=10 u1(k)=10; end if u2(k)>=10 u2(k)=10; end if u1(k)<=-10 u1(k)=-10; end if u2(k)<=-10 u2(k)=-10; end %Coupling Plant yout1(k)=5.7768*u1_1+20.1079*u1_2+12.4614*u1_3-12.5193*u1_4-17.7975*u1_5-5.3871*u1_6-0.0040*u1_7+0.0001*u1_8+0.0966*u2_1+0.1031*u2_2-0.1211*u2_3-0.1591*u2_4+0.0158*u2_5+0.0638*u2_6+0.0060*u2_7-1.1084*y1_1+1.1494*y1_2+2.2860*y1_3+0.2863*y1_4-1.0786*y1_5-0.5446*y1_6+0.0021*y1_7+d(k); yout2(k)=-7.2843*u1_1+1.40449*u1_2+3.9835*u1_3-2.7325*u1_4-1.8430*u1_5+4.4927*u1_6+1.2870*u1_7-0.0050*u1_8+0.2319*u2_1+0.1730*u2_2-0.3976*u2_3-0.3672*u2_4+0.1392*u2_5+0.2041*u2_6+0.0166*u2_7-1.1084*y2_1+1.1494*y2_2+2.2860*y2_3+0.2863*y2_4-1.0786*y2_5-0.5446*y2_6+0.0021*y2_7; error1(k)=R(1)-yout1(k); error2(k)=R(2)-yout2(k); error=[error1(k);error2(k)];%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %-----------Return of PID parameters------------% u1_8=u1_7;u1_7=u1_6;u1_6=u1_5;u1_5=u1_4;u1_4=u1_3;u1_3=u1_2;u1_2=u1_1;u1_1=u(1); u2_8=u2_7;u2_7=u2_6;u2_6=u2_5;u2_5=u2_4;u2_4=u2_3;u2_3=u2_2;u2_2=u2_1;u2_1=u(2); y1_7=y1_6;y1_6=y1_5;y1_5=y1_4;y1_4=y1_3;y1_3=y1_2;y1_2=y1_1;y1_1=yout1(k); y2_7=y2_6;y2_6=y2_5;y2_5=y2_4;y2_4=y2_3;y2_3=y2_2;y2_2=y2_1;y2_1=yout2(k); x1=error; %Calculating P x2=(error-error_1)/ts; %Calculating D x3=x3+error*ts; %Calculating I error_1=error;%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% end figure(1); plot(time,R(1),'b',time,yout1,'r'); hold on; plot(time,R(2),'r',time,yout2,'b'); figure(2); plot(d,'r'); xlabel('time(s)');ylabel('d'); %plot(R(2),yout2); %xlabel([0 10]);ylabel('rin,yout');