kp:
clear all;
close all;
figcount = 3;
kpvalue = [20 50 100];
for kpin = 1:figcount
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=1:1:2000
time(k)=k*ts;
S=2;
if S==1
kp=10;ki=0.1;kd=15;
rin(k)=5; %Step Signal
elseif S==2
%kp=20;ki=0.0;kd=0; %Sine Signal
kp=kpvalue(kpin);ki=0.1;kd=15; %Sine Signal
rin(k)=0.5*cos(2*pi*k*ts);
end
du(k)=kp*x(1)+kd*x(2)+ki*x(3); %PID Controller
u(k)=u_1+du(k);
%Restricting the output of controller
if u(k)>=5
u(k)=5;
end
if u(k)<=-5
u(k)=-5;
end
%Linear model
yout(k)=-den(2)*y_1-den(3)*y_2+num(2)*u_1+num(3)*u_2;
error(k)=rin(k)-yout(k);
%Return of parameters
u_2=u_1;u_1=u(k);
y_2=y_1;y_1=yout(k);
x(1)=error(k)-error_1; %Calculating P
x(2)=error(k)-2*error_1+error_2; %Calculating D
x(3)=error(k); %Calculating I
error_2=error_1;
error_1=error(k);
end
% figure(1);
subplot(figcount,1,kpin);
plot(time,rin,'b',time,yout,'r');
title(['kp=' num2str(kp) ',ki=0.1,kd=15'],'FontSize',14,'Color','k');
xlabel('time(s)'),ylabel('rin,yout');
legend('real value','estimate value');
% title('函数y = xlogx','Color','k','FontSize',30);
% figure(2);
% plot(time,error,'r')
% xlabel('time(s)');ylabel('error');
end
scrsz = get(0,'ScreenSize');
set(gcf,'Position',scrsz);
set(1, 'InvertHardCopy', 'off');%设置的背景色有效,如果为on则图形不保存背景色,maltab 默认为 on
saveas(1,'pid_pk_large','png');
运行结果:
ki:
clear all;
close all;
figcount = 3;
kivalue = [0.05 0.1 0.5];
kivalue = [1 2 10];
for kpin = 1:figcount
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=1:1:2000
time(k)=k*ts;
S=2;
if S==1
kp=10;ki=0.1;kd=15;
rin(k)=5; %Step Signal
elseif S==2
%kp=20;ki=0.0;kd=0; %Sine Signal
kp=10;ki=kivalue(kpin);kd=15; %Sine Signal
rin(k)=0.5*cos(2*pi*k*ts);
end
du(k)=kp*x(1)+kd*x(2)+ki*x(3); %PID Controller
u(k)=u_1+du(k);
%Restricting the output of controller
if u(k)>=5
u(k)=5;
end
if u(k)<=-5
u(k)=-5;
end
%Linear model
yout(k)=-den(2)*y_1-den(3)*y_2+num(2)*u_1+num(3)*u_2;
error(k)=rin(k)-yout(k);
%Return of parameters
u_2=u_1;u_1=u(k);
y_2=y_1;y_1=yout(k);
x(1)=error(k)-error_1; %Calculating P
x(2)=error(k)-2*error_1+error_2; %Calculating D
x(3)=error(k); %Calculating I
error_2=error_1;
error_1=error(k);
end
% figure(1);
subplot(figcount,1,kpin);
plot(time,rin,'b',time,yout,'r');
title([ ',kp=10,ki=' num2str(ki) ',kd=15'],'FontSize',14,'Color','k');
xlabel('time(s)'),ylabel('rin,yout');
legend('real value','estimate value');
% title('函数y = xlogx','Color','k','FontSize',30);
% figure(2);
% plot(time,error,'r')
% xlabel('time(s)');ylabel('error');
end
scrsz = get(0,'ScreenSize');
set(gcf,'Position',scrsz);
set(1, 'InvertHardCopy', 'off');%设置的背景色有效,如果为on则图形不保存背景色,maltab 默认为 on
saveas(1,'pid_pi','png');
运行结果:
kd:
clear all;
close all;
figcount = 3;
kdvalue = [1 5 10 ];
kdvalue = [15 100 1000];
for kpin = 1:figcount
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=1:1:2000
time(k)=k*ts;
S=2;
if S==1
kp=10;ki=0.1;kd=15;
rin(k)=5; %Step Signal
elseif S==2
%kp=20;ki=0.0;kd=0; %Sine Signal
kp=10;ki= 0.1;kd=kdvalue(kpin); %Sine Signal
rin(k)=0.5*cos(2*pi*k*ts);
end
du(k)=kp*x(1)+kd*x(2)+ki*x(3); %PID Controller
u(k)=u_1+du(k);
%Restricting the output of controller
if u(k)>=5
u(k)=5;
end
if u(k)<=-5
u(k)=-5;
end
%Linear model
yout(k)=-den(2)*y_1-den(3)*y_2+num(2)*u_1+num(3)*u_2;
error(k)=rin(k)-yout(k);
%Return of parameters
u_2=u_1;u_1=u(k);
y_2=y_1;y_1=yout(k);
x(1)=error(k)-error_1; %Calculating P
x(2)=error(k)-2*error_1+error_2; %Calculating D
x(3)=error(k); %Calculating I
error_2=error_1;
error_1=error(k);
end
% figure(1);
subplot(figcount,1,kpin);
plot(time,rin,'b',time,yout,'r');
title([ ',kp=10,ki=0.1,kd=' num2str(kd) ],'FontSize',14,'Color','k');
xlabel('time(s)'),ylabel('rin,yout');
legend('real value','estimate value');
% title('函数y = xlogx','Color','k','FontSize',30);
% figure(2);
% plot(time,error,'r')
% xlabel('time(s)');ylabel('error');
end
scrsz = get(0,'ScreenSize');
set(gcf,'Position',scrsz);
set(1, 'InvertHardCopy', 'off');%设置的背景色有效,如果为on则图形不保存背景色,maltab 默认为 on
saveas(1,'pid_kd_large','png');
执行结果:
PID demo:
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=1:1:2000
time(k)=k*ts;
S=1;
if S==1
kp=10;ki=0.1;kd=15;
rin(k)=5; %Step Signal
elseif S==2
%kp=20;ki=0.0;kd=0; %Sine Signal
kp=10;ki=0.1;kd=15; %Sine Signal
rin(k)=0.5*cos(2*pi*k*ts);
end
du(k)=kp*x(1)+kd*x(2)+ki*x(3); %PID Controller
u(k)=u_1+du(k);
%Restricting the output of controller
if u(k)>=5
u(k)=5;
end
if u(k)<=-5
u(k)=-5;
end
%Linear model
yout(k)=-den(2)*y_1-den(3)*y_2+num(2)*u_1+num(3)*u_2;
error(k)=rin(k)-yout(k);
%Return of parameters
u_2=u_1;u_1=u(k);
y_2=y_1;y_1=yout(k);
x(1)=error(k)-error_1; %Calculating P
x(2)=error(k)-2*error_1+error_2; %Calculating D
x(3)=error(k); %Calculating I
error_2=error_1;
error_1=error(k);
end
figure(1);
plot(time,rin,'b',time,yout,'r');
xlabel('time(s)'),ylabel('rin,yout');
title(['kp=10,ki=0.1,kd=15'],'FontSize',14,'Color','k');
saveas(1,'pid_const','png');
figure(2);
plot(time,error,'r')
title(['误差变化'],'FontSize',14,'Color','k');
xlabel('time(s)');ylabel('error');
saveas(2,'pid_const_err','png');
执行结果: