PID算法Matlab仿真程序和C程序

1、time(k)=k*ts;end增量式PID控制算法Matlab仿真程序设一被控对象 Gs=50/(0.125<2+7s), 用増量式PID控初算法编写防真程序 输人分别为单位阶跌、正菽信号， 呆样时间为1ms,控制器输出限幅: -5,5,仿真曲S0I8系貌输岀及锲差 曲线，并加上注释、图例。程序如下 clear all;close all;ts=O.OO1;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=O,O,OJ

2、,;error_1=0;error_2=0;fork=1:1:1000S=2;if S=1kp=10;ki=0.1;kd=15;rin(k)=1;%Step Signalelseif S=2kp=10;ki=0.1;kd=15;%SineSignalrin(k)=0.5*sin(2*pi*k*ts);enddu(k)=kp*x(1)+kd*x (2)+ki*x;%PID Controlleru(k)=u_1 +du(k);%Restricting the output of controllerif u(k)>=5u(k)=5;endif u(k)<=-5u(k)=-5;%Line

3、ar modelyout(k)=-den(2)*yj-den(3)*y_2+num(2)*u_1+num(3)*u_2;error(k)=rin(k)-yout(k);%Return of parametersu_2=u_1;u_1=u(k);y_2=yj;y_1=yout(k);x(1 )=error(k)-error_1;%Calculating Px =error(k)-2*erroM +error_2; %C alculating Dx(3)=error(k); %Calculating Ierror_2=error_1;errorj=error(k);endfigure(1);plo

4、t(time,rin；b,time,yout,r,);xlabel(,time(s),),ylabel(,rin,yout,);figure(2);plotftimerror/r')xlabel(,time(s),);ylabel(,error1)；微分先行PID算法Matlab仿真程序%PID Controler with differential in advanceclear all;close all;ts=20;sys=tf(1,60,1 ,'i 叩 utdelay',80);dsys 二 c2d(sys,ts,'zoh');num,den=t

5、fdata(dsys,V);u_1 =0;u_2=0;u_3=0;u_4=0;u_5=0; ud_1=0;y_1=0;y_2=0;y_3=0;errorj=0;error_2=0;ei=0;for k=1:1:400%Linear modeltime(k)=k*ts;yout(k)=-den(2)*y_1+num(2)*u_5;kp=0.36;kd=14;ki=0.0021;rin(k)=1.0*sign(sin(0.00025*2*pi*k*ts)1error(k)=rin(k)-yout(k);ei=ei+error(k)*ts;gama=0.50;Td=kd/kp;Ti=0.5;c1=g

6、ama*Td/(gama*Td+ts);c2=(Td+ts)/(gama*Td+ts);c3=Td/(gama*Td+ts);M=1;if M=1%PID Control withdifferential in advanceud(k)=c1 *udj +c2*yout(k)-c3*yj; u(k)=kp*error(k)+ud(k)+ki*ei;elseif M=2 %Simple PID Control u(k)=kp*error(k)+kd*(error(k)-error_1)/ts+ki*ei;endif u(k)>=110u(k)=110;endif u(k)<=-110

7、u(k)=-110;end% Update parametersu_5=ij_4;u_4=u_3;ii_3=u_2;ij_2=u_1;u_1=u(k);y_3=y_2;y_2=y_1 ;y_1 =yout(k);error_2=errorj;errorj=error(k);endfigure(1);plot(time,rin,'retime,yout/b');xlabel(,time(s),);ylabel('rin,yout,);error J =0;ei=0;Filterfigure(2);plot(time,u,T);xlabel('time(s)J;yl

8、abel(U);不完全傲分PID算法Matlab仿真程序%PID Controler with Partial differentialclear all;close all;ts=20;sys=tf(1 ,60,1 ,'inputdelay',80);dsys=c2d(sys,ts,'zohj;num,den=tfdata(dsys,V);u_1 =0;u_2=0;u_3=0;u_4=0;u_5=0;ud_1=0;yJ=0;y_2=0;y_3=0;fork=1:1:100 time(k)=k*ts;rin(k)=1.0;%Linear modelyout(k)=-de

9、n(2)*y_1+num(2)*u_5;error(k)=rin(k)-yout(k);%PID Controller with partly differential ei=ei+error(k)*ts;kc=0.30;ki=0.0055;TD=140;kd=kc*TD/ts;Tf=180;Q=tf(1,Tf,1);% Low Freq SignalM=2;if M=1 %Using PID with Partial differential M在简单PID后的不完全 分alfa=Tf/(ts+Tf);u(k)=alfa*u_1+(1-alfa)*(kc*error(k)+kd*(error

10、(k)-error_1 )+ki*ei);u_1=u(k);elseif M=2%Using PID withPartial differential只加在fi!分坏节上的 不完全撤分alfa=Tf/(ts+Tf);ud(k)=kd*(1-alfa)*(error(k)-error_1)+alfa*ud_1;u(k)=kc*error(k)+ud(k)+ki*ei;ud_1=ud(k);elseif M=3 %Using Simple PID 简单的PID徹分u(k)=kc*error(k)+kd*(error(k)-error_1)+ki*ei;end%Restricting the out

11、put of controller if u(k)>=10u(k)=10;endif u(k)<=-10u(k)=-10;endu_5=u_4；u_4=u_3;u_3=u_2;u_2=u_1;u1=u(k);y_3=y_2;y_2=y_1 ;y_1 =yout(k);error_1=error(k);endfigured);plot(time,in,b,time,yout,)；xlabel('time(s)');ylabel('rin,yoiit');figure(2);plotftime.u/r');xlabel('time(s)&

12、#39;);ylabel(');figure(3);plot(time,nn-yout,'r');xlabel(,time(s),);ylabel(,error1)；figure ;bode(Q,'r');dcgain(Q);C培言PID演爪程序include <string.h>#include<stdio.h> typedef struct PIDdouble mand;/输入指令double Proportion; 比例系数double Integral; 枳分系数double Derivative; /做分系数double

13、 preErr; 前一拍锲差double sumErr; j吴差累枳JPID;double PIDCale(PID *p,double feedback)double dErr,Err;Err=p->mand-feedback; 当前锲差p->sumErr+=Err; 误差累加dErr=Err-p->preErr; /锲差撤分p->preErr=Err;return(p->Proportion*Err 比例顶+p->Derivative*dErr /ffi 分项+p->lntegral*p->sumErr); 枳分 ®Ivoid PID

14、Init(PID *p)memset(p,0,sizeof(PID); 初始化typedef struct motor!double lastY;double preY;double lastU;double prell;Imotor;void motorlnit(motor *m)memset(m,0,sizeof(motor);double y=0;double motorCal(motor *m?double u)doubley=1.9753*m->lastY-0.9753*m->preY+0 .00003284*u+0.00006568*m->lastU+0.0000

15、3284*m->preU;/Z 系貌m->preY=m->lastY;m->lastY=y;m->prell=m->lastU;m->lastll=u;return y;void main()FILE *fp=fopen("data.txt",w+");PIDsPID;motor mmotor;int k=0;double u;PIDInit(&sPID);sPID.Proportion=2;sPID.Derivative=1;sPID.Integral=O.OOOO1;sPID.mand=10;motorlnit

16、(&m_moto)；while(k<=1000) fprintf(fp/%d 设定值=%f 被控量=%f偏差=%彳控制 量=%fn,k,sPID.mand,y1sPID.mand-y.u)；u=PIDCale(&sPID,y);y=motorCal(&m_motor,u);k+;)printf(,%,y);fclose(fp);int LastError;/臼ror-1前一拍误差int PreError;/Error-2前两拍误差増量戏PID控制C语言代码 PID;増量式PID控胃C语言代码main()/PID vPID;/定义PID参数构造休定义构造变量名/PI

17、DInit ( &vPID );/Initialize Structuretypedef struct PID /vPID.Proportion = 10;构造体定义/Set PID Coefficientsint SetPoint/vPID.Integral = 10;设定值/ Set PID Integralint Proportion;/vPID.Derivative = 10;/Proportion比例系数Set PID Derivativeint Integral;/vPID. SetPoint =/Integral枳分系数根据实际悄况设定int Derivative;/De

18、rivative撤分系数while(1)/Return:Verror=Measure();得到AD的输出值Error =vPID. SetPoint- Verror;与设定值比fl到误差值tempi=PIDCal(&vPID, Error; laser.Value+=tempi;/ Value与Num2为共同体，共同It名 laserLASERH=laser.NumO;LASERL=laser.Num1;lllllllllllllllllllllllllllllllllllllllllllllllllllllllllll/Title:PID 参数初始(t/Description: Pr

19、oportion"/Integrals/LastError=0/Input: PID的P、I控制常数和之前的lllllllllllllllllllllllllllllllllllllllllllllllllllllllllll/void PIDInit (PID *pp)/PID参数初始化，都置0Imemset ( pp,0,sizeof(PID);/memsetO的函数，它可以一字节一字 节地把整个数组设置为-个摘定的 值。/ memsetO函数在mem.h头文件中声 明，它把数级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)。其函数原塑为：void *memset(void*, int