![](https://csdnimg.cn/release/download_crawler_static/87519493/bg3.jpg)
G(s)=
e
-80s
60s+1
仿真程序:
%PID Controler 微分先行
clear all;
close all;
ts=20;
sys=tf([1],[60,1],'inputdelay',80);
dsys=c2d(sys,ts,'zoh');
[num,den]=tfdata(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;
error_1=0;error_2=0;
ei=0;
for k=1:1:400
time(k)=k*ts;
%Linear model
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));
rin(k)=rin(k)+0.05*sin(0.03*pi*k*ts);
error(k)=rin(k)-yout(k);
ei=ei+error(k)*ts;
gama=0.50;
Td=kd/kp;
Ti=0.5;
c1=gama*Td/(gama*Td+ts);
c2=(Td+ts)/(gama*Td+ts);
c3=Td/(gama*Td+ts);
M=1; % M=1 微分先行算法方
%波响应 M=2 普通算法
if M==1 %PID Control with differential in advance
ud(k)=c1*ud_1+c2*yout(k)-c3*y_1;
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)/t
s+ki*ei;
end
if u(k)>=110
u(k)=110;
end
if u(k)<=-110
u(k)=-110;
end
%Update parameters
u_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_2=error_1;
error_1=error(k);
end
figure(1);
plot(time,rin,'r',time,yout,'b');
xlabel('time(s)');ylabel('rin,yout');