基于MATLABGUI的用PID自动控制.

1、1自动控制原理MATLAB课程设计自动化-2何志东201125442目录MATLAB课程设计 -1界面介绍 -3操作演示 -5程序流程示意图 -11源程序 -133统数入系函输捕响枝正彌gypm _TrTP -1 _-LKa:巫詞确定输入清除数捋根轨迹西阶话响应 NyquistsNicholsBode團稳态分析单悅融！根轨鮭桥正MENU系 函 输数出时参 输域 数 出甘子康菇.界面介绍本次课程设计的界面如上图所示，一共有一下4个模块:1.数据输入与转换模块2.系统菜单模块3.数据输出模块4.图形显示模块接下来将逐一介绍。左上方为数据输入与转换模块，包括系统函数的输入，根轨迹校正参数，以及频率相

2、 应参数的输入（频响尚未完成，所以该模块输入的数据只会被记录而暂无更多的功能）。其中系统函数能够通过按钮选择为传递函数形式，或者是零极点形式。同样，根据你的函数， 你可以选择误差系数的选项。在输入模块中我们提供了将超调量转换成阻尼比的功能。左下方为系统菜单模块，在完成了数据输入之后选择菜单，将可以提供如系统地根轨 迹图，闭环阶跃响应，稳态分析等功能。特别是在选择了“根轨迹校正”的选项后，能够 根据你所提供的指标进行超前一滞后根轨迹综合，并且显示出校正后的根轨迹。并且能将 校正后的系统的阶跃响应与校正之前的阶跃响应相比较。BEK阻.尼比口TpfiEX.帽尼比超W*TsTr4系统菜单模块旁边则是系

3、统的数据输出模块。每一项菜单的选项都会有数据输出，并 都将在这里显示。右边是图形显示模块，上面的两个文本框则是可以输出文本并且给出开环系统的极点5二.操作演示这项程序一共有8个菜单选项，对应8个不同的操作如下清单:1根轨迹图在演示中都将以系统8ss 0.4作为操作演示的例子。确定输人02统栽出域教出 系亟徜时券埼増益K 阻尼比羣加TETrTpHud Ld&j*62.阶跃响应7确定输人清除数据根紈进罔-翫烦哨应 一NyqultEMich 口 I弓图 Bode囲穗态分析卑位反爆咆馳法投正MENU统数出域ft出 系困询肘舊.在计算阶跃响应的同时，还会在输入模块显示该系统的时域动态参数。3.Nyqui

4、st 图甘母审叙困尼比绘调1E羣加TETrTp1 B1614 28统裁人系函帝fium/EfirOSderVpde0*申巫石+砌UQ审： D正掘融TrTp确宦輸人清除数据1 tf根轨迹囲盼麻响应一:NyquiSlENicholEI Bode“ 隐态分析单也反馈艰雌法按正MENU統数岀18尼比自妙TETrTr邛if6稳态分析在“稳态分析”选项中,程序将会计算书闭环系统的极点， 并且计算出在有半轴的极点的 统裁人擢轨迹 楼正娄正掘融hufttfEfirOS冲12 1坯BQ确宦輸人清臨数据1f根轨泣囲踰蹟响应一NyquislENichols 。Bode囲稳态廿析单位反愎覩艇法投正MEiNU统数出域聂

5、出系歴TS1TS1时券埼阻尼比TrTpit 1044H开痒播知唾Is?tIs?t11个数。由此便可以判断系统是否稳定。7单位反馈12统敷A印|赫-0.2+7 fi213i 桶桶点为点为 0 2.2 82131*申巫石+砌UQ审： D确定输入清除数据wars 酚眾响应 一: NyquislENichols Bode圏稳态廿析”单也反馈艰雌法按正MENU统数出域聂出系歴TS1TS1时券埼程序将会在系统函数中输出闭环的系统的传递函数形式8根轨迹校正确定输人歸为歸为 0 2-2 82131*申狂石+叫仍审耳=Dfl2|T-r -TP-1bAI LAbi*1%11.1 -U- 1-粗轨进罔盼烦哨应 一N

6、yqultEKidiDliSBoOe程态分析卑世反摄很轨楚法按正MENU楼正娄正掘融-nispt-nisptrium/zeros領响梭 工張融根轨越函敷 输人廿子寓J* :曲母寓更TME.甬羽-13在选择这个选项之前，必须要给程序输入必要的指标参数：阻尼比，自然震荡频率, 误差系数以及需要的相位裕量此时可以将原系统的根轨迹显示在右边的图形显示模块，再选择“根轨迹校正”，这时就会新生成两个界面，一个是校正后的系统的根轨迹，另一个则是对比原系统与新系统的 闭环阶跃响应。同时新系统的传递函数将会显示在数据输出模块。在命令窗口中也能看到 校正环节的传递函数。14Roct Locus亠 1-0.50Re

7、al Axis.8.86 6cScS4 4 _2_2aa.aa.Hu o5lep Responsei i - I;:;I;:; .:.:- -i i lrllrl ill;ill; -I:I:丄510152025Time i sec15165 4-0. 0125Transfer functi on:1+ 35S s + 1Transfer functions f 0.10.425 s + 117（一）数据输入部分（二）数据输出部分同上（三）菜单部分菜单8三.程序流程示意图开始（四）.子函数超前校正严开始根据指标求得主导极计算校正转置应提供 的超前相角计算校正转置零极点位置（2k 1）二- 18

8、G（p）由幅值条件确定校正 后的系统增益（五）.子函数滞后校正JF开始根据指标求得主导极由需要的指标计算应该增大的吾侪系数值，以及3确定计算偶极子，并且要靠近原 点，两者相差3倍最后再适当调整，以便满足指标 要求19calls thegive nin putvalue pairsmfile name,.,gui_S in glet on,un titled_Ope nin gFc n,u ntitled_OutputFcn, .,)；主函数：Un titled.mfunction varargout = un titled(varargi n)% UNTITLED M-file for un

9、titled.fig % UNTITLED, by itself, creates a new UNTITLED or raises the exist ing%sin glet on*.% H = UNTITLED returns the han dle to a new UNTITLED or the han dle to%the existi ng sin glet on*%UNTITLED(CALLBACK,hObject,eve ntData,ha ndles,.)local%fun ction named CALLBACK in UNTITLED.M with theargume

10、nts.% UNTITLED(Property,Value,.) creates a new UNTITLED or raisesthe% existi ngsin glet on* Start ingfrom the left, property are% applied to the GUI before un titled_Ope nin gFc n gets called. An%un recog ni zedproperty n ame or in validvalue makes propertyapplicati on% stop. All in puts are passed

11、to un titled_Ope nin gFc n via vararg in.% *See GUI Options on GUIDEs Toolsmenu. Choose GUI allows only one%in sta nee to run (sin glet on).% See also: GUIDE, GUIDATA, GUIHANDLES % Edit the above text to modify the resp onse to help un titled% Last Modified by GUIDE v2.5 03-Mar-2014 12:47:49% Begi n

12、 in itializati on code - DO NOT EDIT gui_S in glet on = 1;gui_State = struct(gui_Name ,gui_S in glet on gui_Ope nin gFc n gui_OutputFc n gui_LayoutFc n gui_Callback if n argin & ischar(varargi n1)gui_State.gui_Callback = str2fu nc(varargi n1);endif n argoutvarargout1: nargout = gui_mai nfcn (gui_Sta

13、te, varargi n:);四.源程序20elsegui_mai nfcn (gui_State, varargi n:);end% End in itializatio n code - DO NOT EDIT% - Executes just before un titled is made visible.functionun titled_Ope nin gFc n( hObject, eve ntdata, han dles, vararg in)% This fun cti on has no output args, see OutputFc n.% hObject han

14、dle to figure% eve ntdata reserved - to be defi ned in a future vers ion of MATLAB% han dles structure with han dles and user data (see GUIDATA)% varargin comma nd line argume nts to un titled (see VARARGIN)% Choose default comma nd line output for un titledhan dles.output = hObject;% Update han dle

15、s structure guidata(hObject, han dles);% UIWAIT makes un titled wait for user respo nse (see UIRESUME)% uiwait(ha ndles.figure1);% - Outputs from this fun ctio n are returned to the comma nd line, function varargout = un titled_OutputFc n( hObject, eve ntdata, han dles) % varargout cell array for re

16、turni ng output args (see VARARGOUT);% hObject han dle to figure% eve ntdata reserved - to be defi ned in a future vers ion of MATLAB% han dles structure with han dles and user data (see GUIDATA)% Get default comma nd line output from han dles structure varargout1 = han dles.output;%-functionUn titl

17、ed_1_Callback(hObject, eve ntdata, han dles)% hObject han dle to Un titled_1 (see GCBO)% eve ntdata reserved - to be defi ned in a future vers ion of MATLAB% han dles structure with han dles and user data (see GUIDATA)21as a%-functionUn titled_2_Callback(hObject, eve ntdata, han dies)% hObject han d

18、le to Un titled_2 (see GCBO)% eve ntdata reserved - to be defi ned in a future vers ion of MATLAB % han dles structure with han dles and user data (see GUIDATA)%-fun ctio nt2_Callback(hObject, eve ntdata, han dles)% hObject han dle to t2 (see GCBO)% eve ntdata reserved - to be defi ned in a future v

19、ers ion of MATLAB % han dles structure with han dles and user data (see GUIDATA) fun ctio n edit1_Callback(hObject, eve ntdata, han dles)% hObject han dle to editl (see GCBO)% eve ntdata reserved - to be defi ned in a future vers ion of MATLAB% han dles structure with han dles and user data (see GUI

20、DATA) % Hin ts: get(hObject,Stri ng) retur ns contents of editl as text%str2double(get(hObject,Stri ng)doublereturnscontents of editl% - Executes duri ng object creati on, after sett ing all properties. fun ctio nedit1_CreateFc n(hObject, eve ntdata, han dles)% hObject han dle to editl (see GCBO)% e

21、ve ntdata reserved - to be defi ned in a future vers ion of MATLAB% handles empty- handles not created until afterall CreateFc nscalled% Hint: edit con trols usually have a white backgro und on Win dows.% See ISPC and COMPUTER.ifispc&isequal(get(hObject,get(0,defaultUico ntrolBackgro un dColor)set(h

22、Object,BackgroundColor, white );endBackgro un dColor),fun ctio n edit2_Callback(hObject, eve ntdata, han dles)% hObject han dle to edit2 (see GCBO)% eve ntdata reserved - to be defi ned in a future vers ion of MATLAB% han dles structure with han dles and user data (see GUIDATA)2223% Hin ts: get(hObj

23、ect,Stri ng) retur ns contents of edit2 as text%str2double(get(hObject,String)returns contents of edit2 as adouble% - Executes duri ng object creati on, after sett ing all properties. functionedit2_CreateFc n( hObject, eve ntdata, han dles)% hObject han dle to edit2 (see GCBO)% eve ntdata reserved -

24、 to be defi ned in a future vers ion of MATLAB% handles empty- handles not created until after% Hint: edit con trols usually have a white backgro und on Win dows.% See ISPC and COMPUTER.ifispc&isequal(get(hObject,get(0,defaultUico ntrolBackgro un dColor)set(hObject,BackgroundColor, white );endall Cr

25、eateFc ns calledBackgro un dColor),fun ctio nedit3_Callback(hObject, eve ntdata, han dles)% hObject han dle to edit3 (see GCBO)% eve ntdata reserved - to be defi ned in a future vers ion of MATLAB% han dles structure with han dles and user data (see GUIDATA)% Hin ts: get(hObject,Stri ng) retur ns co

26、ntents of edit3 as text% str2double(get(hObject,Stri ng)returnsdouble% - Executes duri ng object creati on, after sett ing all properties.fun ctio nedit3_CreateFc n(hObject, eve ntdata, han dles)% hObject han dle to edit3 (see GCBO)% eve ntdata reserved - to be defi ned in a future vers ion of MATLA

27、B% handles empty- handles not created until after% Hint: edit con trols usually have a white backgro und on Win dows.% See ISPC and COMPUTER.ifispc&isequal(get(hObject,get(0,defaultUico ntrolBackgro un dColor)set(hObject,BackgroundColor, white );endcontents of edit3 as aall CreateFc ns calledBackgro

28、 un dColor),fun ctio nedit4_Callback(hObject, eve ntdata, han dles)2425% han dles emptyBackgro un dColor),contents of edit5 as a% han dles empty-handlesnot createduntilafter all CreateFc ns calledBackgro un dColor),% hObject han die to edit4 (see GCBO)% eve ntdata reserved - to be defi ned in a futu

29、re vers ion of MATLAB% han dles structure with han dles and user data (see GUIDATA)% Hin ts: get(hObject,Stri ng) retur ns contents of edit4 as text%str2double(get(hObject,String)returns contents of edit4 as adouble% - Executes duri ng object creati on, after sett ing all properties. fun ctio nedit4

30、_CreateFc n(hObject, eve ntdata, han dles)% hObject han dle to edit4 (see GCBO)% eve ntdata reserved - to be defi ned in a future vers ion of MATLAB-handlesnot createduntil after all CreateFc ns called% Hint: edit con trols usually have a white backgro und on Win dows.% See ISPC and COMPUTER.ifispc&

31、isequal(get(hObject,get(0,defaultUico ntrolBackgro un dColor)set(hObject,BackgroundColor, white );end fun ctio n edit5_Callback(hObject, eve ntdata, han dles)% hObject han dle to edit5 (see GCBO)% eve ntdata reserved - to be defi ned in a future vers ion of MATLAB% han dles structure with han dles a

32、nd user data (see GUIDATA) % Hin ts: get(hObject,Stri ng) retur ns contents of edit5 as text%str2double(get(hObject,Stri ng)returnsdouble% - Executes duri ng object creati on, after sett ing all properties.fun ctio nedit5_CreateFc n(hObject, eve ntdata, han dles)% hObject han dle to edit5 (see GCBO)

33、% eve ntdata reserved - to be defi ned in a future vers ion of MATLAB% Hint: edit con trols usually have a white backgro und on Win dows. % See ISPC and COMPUTER.ifispc&isequal(get(hObject,get(0,defaultUico ntrolBackgro un dColor)set(hObject,BackgroundColor, white );end26isequal(get(hObject,),white

34、);Backgro un dColor),contents of edit6 as aall CreateFc ns calledcontents of edit7 as aall CreateFc ns calledfun ctio nedit6_Callback(hObject, eve ntdata, han dies)% hObject han dle to edit6 (see GCBO)% eve ntdata reserved - to be defi ned in a future vers ion of MATLAB% han dles structure with han

35、dles and user data (see GUIDATA)% Hin ts: get(hObject,Stri ng) retur ns contents of edit6 as text%str2double(get(hObject,Stri ng)returnsdouble% - Executes duri ng object creati on, after sett ing all properties. functionedit6_CreateFc n( hObject, eve ntdata, han dles)% hObject han dle to edit6 (see

36、GCBO)% eve ntdata reserved - to be defi ned in a future vers ion of MATLAB% handles empty- handles not created until after% Hint: edit con trols usually have a white backgro und on Win dows. % See ISPC and COMPUTER.ifispc&get(0,defaultUico ntrolBackgro un dColorset(hObject,Backgro un dColorendfun ct

37、io nedit7_Callback(hObject, eve ntdata, han dles)% hObject han dle to edit7 (see GCBO)% eve ntdata reserved - to be defi ned in a future vers ion of MATLAB% han dles structure with han dles and user data (see GUIDATA)% Hin ts: get(hObject,Stri ng) retur ns contents of edit7 as text%str2double(get(hO

38、bject,Stri ng)returnsdouble% - Executes duri ng object creati on, after sett ing all properties.fun ctio nedit7_CreateFc n(hObject, eve ntdata, han dles)% hObject han dle to edit7 (see GCBO)% eve ntdata reserved - to be defi ned in a future vers ion of MATLAB% handles empty- handles not created unti

39、l after% Hint: edit con trols usually have a white backgro und on Win dows.% See ISPC and COMPUTER.27ifispc&get(O,defaultUico ntrolBackgro un dColorset(hObject,Backgro un dColorendisequal(get(hObject,),white );Backgro un dColor),fun ctio nedit8_Callback(hObject, eve ntdata, han dles)% hObject han dl

40、e to edit8 (see GCBO)% eve ntdata reserved - to be defi ned in a future vers ion of MATLAB% han dles structure with han dles and user data (see GUIDATA)% Hin ts: get(hObject,Stri ng) retur ns contents of edit8 as text%str2double(get(hObject,Stri ng)returnsdoublecontents of edit8 as a% - Executes dur

41、i ng object creati on, after sett ing all properties.fun ctio nedit8_CreateFc n(hObject, eve ntdata, han dles)% hObject han dle to edit8 (see GCBO)% eve ntdata reserved - to be defi ned in a future vers ion of MATLAB% handles empty- handles not created until afterall CreateFc ns called% Hint: edit c

42、on trols usually have a white backgro und on Win dows.% See ISPC and COMPUTER.ifispc&get(0,defaultUico ntrolBackgro un dColorset(hObject,Backgro un dColorendisequal(get(hObject,),white );Backgro un dColor),% - Executes on butt on press in pushbutt on1.functionpushbutt on 1_Callback(hObject, eve ntda

43、ta, han dles)% hObject handle to pushbutt on1 (see GCBO)% eve ntdata reserved - to be defi ned in a future vers ion of MATLAB% han dles structure with han dles and user data (see GUIDATA)globalKpva%误差系数globalnum;%传递函数的输入分子globalden;%传递函数的输入分母globalzero;%开环糸统零点globalpole;%闭环系统极点globalKgain;%传递函数增益Kgl

44、obalq;%阻尼比globalsys;%开环系统2829Stri ng);Stri ng);Stri ng);%判断系统形式globalsysback;%闭环系统globalovershoot;%超调量globalTs;%调整时间TsglobalTr;globalTp;%峰值时间TpglobalWn;%频率globalflag1;%标志1为传递函数，0为零极点globalflagk;%标志为-1为KP，标志为0为KV，标志为1为KAglobalKpva%误差系数globalxw;%相位裕量globalypm%频率响应中的相角裕度q=get( han dles.edit4 ,Stri ng);

45、overshoot=get( han dles.edit5 ,Stri ng);ypm=get( han dles.edit7 ,Stri ng);Tr=get( han dles.edit8 ,Stri ng);邛=get( han dles.edit6 ,Stri ng);Wn=:get( han dles.edit9 ,Stri ng);Kpva=get( han dles.edit25 ,Stri ng);xw=get( han dles.edit27 ,Stri ng);q= str2 num (q);overshoot = str2 num (overshoot); ypm = s

46、tr2 nu m(ypm);Tp= str2 nu m(Tp);Wn= str2 num (Wn);Kpva= str2 num (Kpva);xw= str2 nu m(xw);%获得数据nu mtem = get( han dles.edit1 , den tem = get( han dles.edit2 , Kgain = get( han dles.edit3 ,%格式转换,将字符格式转换成数字格式 nu mtem= str2 num( nu mtem );den tem= str2 num( den tem );Kgain= str2 num( Kgai n );if flag1

47、= 0sys = zpk( nu mtem,de ntem,Kgai n); zero=nu mtem;pole=de ntem;30%单位反馈titie(saveas( gcf,end if flagl =1sys = tf(nu mtem,de ntem); num=nu mtem;den=den tem;end sysback=feedback(sys,1);functionuipa nel1_Butt on Dow nFcn( hObject, eve ntdata, han dies)% hObject han die to uipa nell (see GCBO)% eve ntd

48、ata reserved - to be defi ned in a future vers ion of MATLAB% han dies structure with han dies and user data (see GUIDATA)% - Executes on butt on press in radiobutt on5.fun ctio nradiobutt on 5_Callback(hObject, eve ntdata, han dies)% hObject han die to radiobutto n5 (see GCBO)% eve ntdata reserved

49、- to be defi ned in a future vers ion of MATLAB% han dies structure with han dies and user data (see GUIDATA)% Hint: get(hObject,Vaiue) retur ns toggle state of radiobutt on5 global sys ;grid onnyq uist(sys);图)；Nyquist , .bmp);% - Executes whe n selected object is cha nged in uipa nell.fun ctio nuip

50、a nel1_Selectio nCha ngeFc n(hObject, eve ntdata, han dies)% hObject han die to the selected object in uipa nell% eve ntdata structure with the followi ng fields (see UIBUTTONGROUP)% Even tName: stri ng Selecti on Cha nged (read only)% OldValue:han dieof the previously selected object or empty if no

51、ne wasselected% NewValue: han die of the curre ntly selected object% han dies structure with han dies and user data (see GUIDATA)%拿到所选择按钮的名称Str = get(hObject,Stri ng );han dles.Str = Str;31全局变量的声明globalnum;globalden;globalzero;globalpole;globalKgain;globalq;globalsys;globalsysback;globalovershoot;gl

52、obalTs;globalTp;globalWn;globalKpva;globalxw;globalsysfi nal;globalsysfi nalback0%*case根轨迹图%峰值时间%超调量计算%所有的图像都在axesl中画图axes (ha ndles.axesl);o%*%传递函数的输入分子%传递函数的输入分母%开环系统零点%闭环系统极点%传递函数增益K%阻尼比%开环系统%闭环系统%超调量%调整时间Ts%峰值时间Tp%频率%误差系数%相位裕量%根轨迹校正后的开环系统%根轨迹校正后的闭环系统菜单函数部分 *Q% 0%*Q% 0%*rlocus(sys);grid;k,poles=r

53、locfi nd(sys);o%* % %求阶跃响应及动态参数0%*case 阶跃响应y,t=step(sysback); Y,k=max(y); Tp=t(k);C=dcga in( sysback); overshoot=100*(Y-C)/C i=le ngth(t)while (y(i)0.98*C & y(i)0 n=n+1;endendden tem=nu m2str(de ntem);n=nu m2str( n);SC =strcat(极点为:,dentem);SB=strcat(其中在右半轴的极点有：,n)set( han dles.edit23,set( han dles.e

54、dit28,Stri ng,SC);Stri ng,SB);340%k*% %说明：用超前滞后处理求根轨迹法校正0%*case 根轨迹法校正sys=tf(sys);xw=xw+5;Tz=0.1;kc=1;n g=sys .nu m1;dg=sys.de n1;nu mtem,de ntem=ord2(W n,q); s=roots(de ntem);s1=s(1);sysc1=cqjz_root(sys,s1,kc) sys1=sys*sysc1*kc;sysc2,Kc2=zhjz_root(sys,q,Wn,Tz)sysfin al=sys1*sysc2*Kc2; sysfi nalback

55、=feedback(sysfi nal,1);%根轨迹校正后的开环系统%根轨迹校正后的闭环系统nu mtem,de ntem=tfdata(sysback); nu mtem=cell2mat( nu mtem);den tem=cell2mat(de ntem);%将 cell数组转为普通矩阵nu mtem den tem=nu m2str( nu mtem);=nu m2str(de ntem);set( han dles.edit10 ,set( han dles.edit11 ,Stri ngStri ng,nu mtem );,de ntem );figure(2) rlocus(s

56、ysfi nal); grid;%画出校正后根轨迹figure(3) step(sysback,b)gtext(校正前)gridon;holdonstep(sysfi nalback, gtext(校正后)Jr);%对比校正前后阶跃响应3536endfun ctio nedit9_Callback(hObject, eve ntdata, han dies)% hObject han dle to edit9 (see GCBO)% eve ntdata reserved - to be defi ned in a future vers ion of MATLAB% han dles str

57、ucture with han dles and user data (see GUIDATA)% Hin ts: get(hObject,Stri ng) retur ns contents of edit9 as text%str2double(get(hObject,Stri ng)returnsdoublecontents of edit9 as a% - Executes duri ng object creati on, after sett ing all properties.fun ctio nedit9_CreateFc n(hObject, eve ntdata, han

58、 dles)% hObject han dle to edit9 (see GCBO)% eve ntdata reserved - to be defi ned in a future vers ion of MATLAB% handles empty- handles not created until after% Hint: edit con trols usually have a white backgro und on Win dows.% See ISPC and COMPUTER.ifispc&isequal(get(hObject,get(0,defaultUico ntr

59、olBackgro un dColor)set(hObject,BackgroundColor, white );endall CreateFc ns calledBackgro un dColor),3738% han dles empty-handlesnot createduntilafter all CreateFc nscalledifispc&isequal(get(hObject,Backgro un dColorget(0,defaultUico ntrolBackgro un dColor)set(hObject,Backgro un dColor,white);end),B

60、ackgro un dColor),functionedit10_Callback(hObject, eve ntdata, han dies)% hObject handle to edit10 (see GCBO)% eve ntdata reserved - to be defi ned in a future vers ion of MATLAB% han dles structure with han dles and user data (see GUIDATA)% Hin ts: get(hObject,Stri ng) retur ns contents of edit10 a