PID算法Matlab仿真程序和C程序.doc

增量式pid控制算法matlab仿真程序设一被控对象g（s）=50/(0.125s2+7s),用增量式pid控制算法编写仿真程序（输入分别为单位阶跃、正弦信号，采样时间为1ms，控制器输出限幅：-5,5,仿真曲线包括系统输出及误差曲线，并加上注释、图例）。程序如下clear all;close all; ts=0.001;sys=tf(50,0.125,7, 0);dsys=c2d(sys,ts,z);num,den=tfdata(dsys,v); u_1=0.0;u_2=0.0;y_1=0.0;y_2=0.0;x=0,0,0;error_1=0;error_2=0;for k=1:1:1000time(k)=k*ts; s=2;if s=1 kp=10;ki=0.1;kd=15; rin(k)=1; %step signalelseif s=2 kp=10;ki=0.1;kd=15; %sine signal rin(k)=0.5*sin(2*pi*k*ts); end du(k)=kp*x(1)+kd*x(2)+ki*x(3); %pid controlleru(k)=u_1+du(k);%restricting the output of controllerif u(k)=5 u(k)=5;endif u(k)=110 u(k)=110;endif u(k)=10 u(k)=10;endif u(k)=-10 u(k)=-10;endu_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);error_1=error(k);endfigure(1);plot(time,rin,b,time,yout,r);xlabel(time(s);ylabel(rin,yout);figure(2);plot(time,u,r);xlabel(time(s);ylabel(u);figure(3);plot(time,rin-yout,r);xlabel(time(s);ylabel(error);figure(4);bode(q,r);dcgain(q);c语言pid演示程序#include #includetypedef struct pid double command; /输入指令 double proportion; /比例系数 double integral; /积分系数 double derivative; /微分系数 double preerr; /前一拍误差 double sumerr; /误差累积pid;double pidcale(pid *p,double feedback) double derr,err; err=p-command-feedback; /当前误差 p-sumerr+=err; /误差累加 derr=err-p-preerr; /误差微分 p-preerr=err; return(p-proportion*err /比例项 +p-derivative*derr /微分项 +p-integral*p-sumerr); /积分项void pidinit(pid *p) memset(p,0,sizeof(pid); /初始化typedef struct motor double lasty; double prey; double lastu; double preu;motor;void motorinit(motor *m) memset(m,0,sizeof(motor);double motorcal(motor *m,double u) double y=1.9753*m-lasty-0.9753*m-prey+0.00003284*u+0.00006568*m-lastu+0.00003284*m-preu;/二阶系统 m-prey=m-lasty; m-lasty=y; m-preu=m-lastu; m-lastu=u; return y;void main() file *fp=fopen(data.txt,w+); pid spid; motor m_motor; int k=0; double u; double y=0; pidinit(&spid); spid.proportion=2; spid.derivative=1; spid.integral=0.00001; spid.command=10; motorinit(&m_motor); while(k=1000) fprintf(fp,%d 设定值=%f 被控量=%f 偏差=%f 控制量=%fn,k,spid.command,y,spid.command-y,u); u=pidcale(&spid,y); y=motorcal(&m_motor,u); k+; printf(%fn,y); fclose(fp);增量式pid控制c语言代码增量式pid控制c语言代码 / 定义pid参数结构体/typedef struct pid /结构体定义 int setpoint /设定值 int proportion; / proportion 比例系数 int integral; / integral 积分系数 int derivative; / derivative 微分系数 int lasterror; / error-1 前一拍误差 int preerror; / error-2 前两拍误差 pid;main() pid vpid; /定义结构变量名pidinit ( &vpid ); /initialize structurevpid.proportion = 10; /set pid coefficients vpid.integral = 10; / set pid integral vpid.derivative = 10; / set pid derivative vpid. setpoint = /根据实际情况设定 while(1) verror=measure(); /得到ad的输出值 error =vpid. setpoint- verror; /与设定值比较，得到误差值tempi=pidcal(&vpid, error; laser.value+=tempi; / value与num2为共同体，共同体名laserlaserh=laser.num0;laserl=laser.num1; /title:pid参数初始化/description: proportion=0/ integral=0/ lasterror=0/input: pid的p、i控制常数和之前的误差量（pid *pp）/return: /void pidinit (pid *pp) /pid参数初始化，都置0 memset ( pp,0,sizeof(pid);/memset()的函数， 它可以一字节一字节地把整个数组设置为一个指定的值。/ memset()函数在mem.h头文件中声明，它把数组的起始地址作为其第一个参数，/第二个参数是设置数组每个字节的值，第三个参数是数组的长度(字节数，不是元素个数)。/其函数原型为：void *memset(void*，int，unsigned)；/头文件 /title:增量式pid算法程序/description:给出一个误差增量/input: pid的p、i控制常数和之前的误差量（pid *pp）& 当前误差量（thiserror）/return: 误差增量templ/int pidcal( pid *pp, int thiserror ) /增量式pid算法（需要控制的不是控制量的绝对值，而是控制量的增量） int perror,derror,ierror;long templ; perror = thiserror-pp-lasterror; ierror = thiserror; derror = thiserror-2*(pp-lasterror)+pp