PID控制实验报告

pid pid pid pid pid pid kt t pid tu k kp e k ti k e j j 0k td e k e k 1 t e k e k 1 t kpe k ki e j t kd j 0 ki kp ti u kd kptd e pid pid pid d a a d dsp pid 1 ex3 g s 1 2js bs j 0 0067 b 0 1 0 5sin 2 t pd kp 20 kd 0 5 ode45 d2ydyy s 1 u y1 y y2 y 2 g s j2 bdtu s js bsdt yy 12 ex3f m y 2 b j y 1 j u 2 function dy ex3f t y flag para u para j 0 0067 b 0 1 dy zeros 2 1 dy 1 y 2 dy 2 b j y 2 1 j u ex3 m clear all close all ts 0 001 xk zeros 2 1 a d y e 1 0 e k 1 u 1 0 u k 1 for k 1 1 2000 k time k k ts time rin k 0 50 sin 1 2 pi k ts para u 1 d a tspan 0 ts tt xx ode45 ex3f tspan xk para ode45 xx tt y tt y xk xx end a d xx y y yout k xk 1 xk 1 y k e k rin k yout k de k e k e 1 ts u k u k 20 0 e k 0 50 de k u k if u k 10 0 u k 10 0 end if u k 10 0 u k 10 0 end u k 1 e k 1 u 1 u k e 1 e k end figure 1 plot time rin r time yout b xlabel time s ylabel rin yout figure 2 plot time rin yout r xlabel time s ylabel error 1 1 pd 2 ex4 simulink32s 87 35s 10470s m ode45 simu link m 1ms pid kp 1 5 ki 2 kd 0 05 m ex4 mdl ex4f m function u ex4f u1 u2 u1 clock u2 2 1 sum e persistent errori error 1 if u1 0 clock 0 e k e k 1 0 errori 0 error 1 0 end ts 0 001 kp 1 5 ki 2 0 kd 0 05 error u2 errord error error 1 ts errori errori error ts u kp error kd errord ki errori pid u k error 1 error 2 1 simulink 2 matlab errori error 1 2 4 pid 1 ex5 g s 1ms s3 87 35s2 10470s pid s s 1 s 2 s 3 g s g z yout k den 2 y k 1 den 3 y k 2 den 4 y k 3 num 2 u k 1 num 3 u k 2 num 4 u k 3 y z y z u z z u z ex5 m pid controller clear all close all pid pid 1 pid 2 t 3 i 1 el at iii 2 1 6 1 6 1 gc s kp 1 ki s kds gh s 1 e s gp1 s 5 0 5s 1 0 1s 1 gp2 s 1 s 0 1s 1 ts 2 6 2 6 3 6 2 gp1 s 6 3 gp2 s 6 2 1 6 3 2 3 gp1 s 0 pi pid i gp2 s i pi pid ii 4 r t 1 t 5 pi pid gc s kp 1 k1 s kpk1 1 k1 s 1 s k tis 1 s k kpki ti 1 k1 pi k kpki ki k k kp pid 6 ii gp2 s pi g s gc s gp2 s k tis 1 s 1 s 0 1s 1 ti0 1 k110 7 pid pid e t u t u k u k 1 q0e k q1e k 1 q2e k 2 q0 kp 1 kit kd t q1 kp 1 2kd t q2 kp kd t t 1 2 3 6 2 u1 a d d a da1 u2 a d d a ad1 4 pid 5 kp ki kd kp 1 ki 0 02 kd 1 6 kp ki kd p ts 7 kp ki kd 8 6 3 u1 a d d a da1 u2 a d d a ad1 9 4 7 10 kp ki kd p ts 1 0 1 3 kp ki kd kp kp ki kd kp 1 ki 0 02 kd 1 kp 1 5 ki 0 02 kd 1 pid pid 1 pid 2 t 3 i 1 el at iii 2 pc 1 3 1 3 1 gc s kp 1 ki s kds gh s 1 e ts s gp1 s 5 0 5s 1 0 1s 1 gp2 s 1 s 0 1s 1 2 3 2 3 3 3 2 gp1 s 3 3 gp2 s 3 2 1 3 3 2 3 gp1 s 0 pi pid i gp2 s i pi pid ii 4 r t 1 t 5 pi pid gc s kp 1 k1 s kpk1 1 k1 k tis 1 s k kpki ti 1 k1 pi k kpki ki k k kp pid 6 ii gp2 s pi g s gc s gp2 s k tis 1 s 1 s 0 1s 1 ti0 1 k110 7 pid pid e t u t u k u k 1 q0e k q1e k 1 q2e k 2 q0 kp 1 kit kd t q1 kp 1 2kd t q2 kp kd t t 1 3 2 u1 a d d a da1 u2 a d d a ad1 2 3 4 pid 5 kp ki kd kp 1 ki 0 02 kd 1 6 kp ki kd p ts 7 kp ki kd 8 3 3 u1 a d d a da1 u2 a d d a ad1 9 4 7 10 kp ki kd p ts 1 0 02 1 1 0 01 1 1 0 01 2 1 0 02 2 2 0 02 4 1 2 gp1 s kp ki kd bode c 3 kp ki kd kp kp ki kd kp ti td matlab pid pid 1 49 2 pid 3 7 nb nm