Pid一阶惯性系统.zip_pid_pid一阶惯性_一阶惯性系统_惯性系统_惯性系统pid

# -*- coding: utf-8 -*- """ Created on Tue Oct 30 14:12:41 2018 @author: X230 """ import PID import matplotlib.pyplot as plt plt.figure(1) # 创建图表1 plt.figure(2) # 创建图表2 class IncrementalPID: def __init__(self, P, I, D): self.Kp = P self.Ki = I self.Kd = D self.PIDOutput = 0.0 #PID控制器输出 self.SystemOutput = 0.0 #系统输出值 self.LastSystemOutput = 0.0 #上次系统输出值 self.Error = 0.0 #输出值与输入值的偏差 self.LastError = 0.0 self.LastLastError = 0.0 #设置PID控制器参数 def SetStepSignal(self,StepSignal): self.Error = StepSignal - self.SystemOutput IncrementValue = self.Kp * (self.Error - self.LastError) + self.Ki * self.Error + self.Kd * (self.Error - 2 * self.LastError + self.LastLastError) self.PIDOutput += IncrementValue self.LastLastError = self.LastError self.LastError = self.Error #设置一阶惯性环节系统 其中InertiaTime为惯性时间常数 def SetInertiaTime(self,InertiaTime,SampleTime): self.SystemOutput = (InertiaTime * self.LastSystemOutput + SampleTime * self.PIDOutput) / (SampleTime + InertiaTime) self.LastSystemOutput = self.SystemOutput # *****************************************************************# # 位置式PID系统 # # *****************************************************************# class PositionalPID: def __init__(self, P, I, D): self.Kp = P self.Ki = I self.Kd = D self.SystemOutput = 0.0 self.ResultValueBack = 0.0 self.PidOutput = 0.0 self.PIDErrADD = 0.0 self.ErrBack = 0.0 def SetInertiaTime(self, InertiaTime,SampleTime): self.SystemOutput = (InertiaTime * self.ResultValueBack + SampleTime * self.PidOutput) / (SampleTime + InertiaTime) self.ResultValueBack = self.SystemOutput def SetStepSignal(self,StepSignal): Err = StepSignal - self.SystemOutput KpWork = self.Kp * Err KiWork = self.Ki * self.PIDErrADD KdWork = self.Kd * (Err - self.ErrBack) self.PidOutput = KpWork + KiWork + KdWork self.PIDErrADD += Err self.ErrBack = Err #测试PID程序 def TestPID(P, I, D): IncrementalPid = PID.IncrementalPID(P, I, D) PositionalPid = PID.PositionalPID(P, I, D) IncrementalXaxis = [0] IncrementalYaxis = [0] PositionalXaxis = [0] PositionalYaxis = [0] for i in range(1, 100000): #增量式 IncrementalPid.SetStepSignal(100.2) IncrementalPid.SetInertiaTime(3,0.1) IncrementalYaxis.append(IncrementalPid.SystemOutput) IncrementalXaxis.append(i) #位置式 PositionalPid.SetStepSignal(100.2) PositionalPid.SetInertiaTime(3,0.1) PositionalYaxis.append(PositionalPid.SystemOutput) PositionalXaxis.append(i) plt.figure(1) # 选择图表1 plt.plot(IncrementalXaxis, IncrementalYaxis,'r') print(IncrementalYaxis) plt.xlim(0,120) plt.ylim(0,140) plt.title("IncrementalPID") plt.figure(2) # 选择图表2 plt.plot(PositionalXaxis, PositionalYaxis, 'b') plt.xlim(0,120) plt.ylim(0,140) plt.title("PositionalPID") plt.show() if __name__ == "__main__": TestPID(4.5,0.1,0.1)