PId算法改进_matlab_pid

clear all; close all; %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% h=0.01; %Sampling time %Transient Parameters with TD delta=10; %ESO Parameters beta1=100;beta2=200;beta3=500; delta1=0.0025; alfa1=0.5;alfa2=0.25; %NPID Parameters delta0=2*h; alfa01=3/4;alfa02=3/2; %0<alfa1<1<alfa2 beta01=10;beta02=0.3; kp=beta01;kd=beta02; %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% xk=zeros(2,1); e1_1=0; u_1=0; v_1=0; v1_1=0;v2_1=0; z1_1=0;z2_1=0;z3_1=0; for k=1:1:2000 time(k) = k*h; p1=u_1; p2=k*h; tSpan=[0 h]; [tt,xx]=ode45('chap6_12plant',tSpan,xk,[],p1,p2); xk = xx(length(xx),:); y(k)=xk(1); dy(k)=xk(2); v(k)=sign(sin(k*h)); dv(k)=0; f(k)=-25*dy(k)+33*sin(pi*p2); %Uunknown part b=133; x3(k)=f(k); %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %TD Transient x1=v1_1-v_1; x2=v2_1; v1(k)=v1_1+h*v2_1; v2(k)=v2_1+h*fst(x1,x2,delta,h); %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %ESO e=z1_1-y(k); z1(k)=z1_1+h*(z2_1-beta1*e); z2(k)=z2_1+h*(z3_1-beta2*fal(e,alfa1,delta1)+b*u_1); z3(k)=z3_1-h*beta3*fal(e,alfa2,delta1); z1_1=z1(k); z2_1=z2(k); z3_1=z3(k); %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %N-PD and disturbance compensation e1(k)=v1(k)-z1(k); e2(k)=v2(k)-z2(k); M=2; if M==1 %ADRC u0(k)=kp*fal(e1(k),alfa01,delta0)+kd*fal(e2(k),alfa02,delta0); u(k)=u0(k)-z3(k)/b; elseif M==2 % Ordinary PD u(k)=kp*(v(k)-y(k))+kd*(dv(k)-dy(k)); end %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% v_1=v(k); v1_1=v1(k); v2_1=v2(k); z1_1=z1(k);z2_1=z2(k);z3_1=z3(k); u_1=u(k); end if M==1 figure(1); plot(time,v,'r',time,v1,'k:',time,y,'b-.','linewidth',2); xlabel('time(s)'),ylabel('position signal'); legend('ideal position signal', 'transient position signal','position tracking signal'); figure(2); subplot(311); plot(time,z1,'r',time,y,'k:','linewidth',2); xlabel('time(s)'),ylabel('z1,y'); legend('practical position signal', 'position signal estimation'); subplot(312); plot(time,z2,'r',time,dy,'k:','linewidth',2); xlabel('time(s)'),ylabel('z2,dy'); legend('practical speed signal', 'speed signal estimation'); subplot(313); plot(time,z3,'r',time,x3,'k:','linewidth',2); xlabel('time(s)'),ylabel('z3,x3'); legend('practical uncertain part', 'uncertain part estimation'); elseif M==2 figure(1); plot(time,v,'r',time,y,'k:','linewidth',2); xlabel('time(s)'),ylabel('position signal'); legend('ideal position signal','position tracking'); end