PID算法Matlab仿真程序和C程序

增量式PID控制算法Matlab仿真程序設(shè)一被控對(duì)象G（s）=50/(0.125s2+7s),用增量式PID控制算法編寫仿真程序（輸入分別為單位階躍、正弦信號(hào)，采樣時(shí)間為1ms，控制器輸出限幅：-5,5,仿真曲線包括系統(tǒng)輸出及誤差曲線，并加上注釋、圖例）。程序如下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=1:1:1000time(k)=k*ts; S=2;if S=1 kp=10;ki=0.1;kd=15; rin(k)=1; %Step Signalelseif S=2 kp=10;ki=0.1;kd=15; %Sine Signal rin(k)=0.5*sin(2*pi*k*ts); end du(k)=kp*x(1)+kd*x(2)+ki*x(3); %PID Controlleru(k)=u_1+du(k);%Restricting the output of controllerif u(k)=5 u(k)=5;endif u(k)=110 u(k)=110;endif u(k)=10 u(k)=10;endif u(k)=-10 u(k)=-10;endu_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_1=error(k);endfigure(1);plot(time,rin,b,time,yout,r);xlabel(time(s);ylabel(rin,yout);figure(2);plot(time,u,r);xlabel(time(s);ylabel(u);figure(3);plot(time,rin-yout,r);xlabel(time(s);ylabel(error);figure(4);bode(Q,r);dcgain(Q);C語(yǔ)言PID演示程序#include #includetypedef struct PID double Command; /輸入指令 double Proportion; /比例系數(shù) double Integral; /積分系數(shù) double Derivative; /微分系數(shù) double preErr; /前一拍誤差 double sumErr; /誤差累積PID;double PIDCale(PID *p,double feedback) double dErr,Err; Err=p-Command-feedback; /當(dāng)前誤差 p-sumErr+=Err; /誤差累加 dErr=Err-p-preErr; /誤差微分 p-preErr=Err; return(p-Proportion*Err /比例項(xiàng) +p-Derivative*dErr /微分項(xiàng) +p-Integral*p-sumErr); /積分項(xiàng)void PIDInit(PID *p) memset(p,0,sizeof(PID); /初始化typedef struct motor double lastY; double preY; double lastU; double preU;motor;void motorInit(motor *m) memset(m,0,sizeof(motor);double motorCal(motor *m,double u) double y=1.9753*m-lastY-0.9753*m-preY+0.00003284*u+0.00006568*m-lastU+0.00003284*m-preU;/二階系統(tǒng) m-preY=m-lastY; m-lastY=y; m-preU=m-lastU; m-lastU=u; return y;void main() FILE *fp=fopen(data.txt,w+); PID sPID; motor m_motor; int k=0; double u; double y=0; PIDInit(&sPID); sPID.Proportion=2; sPID.Derivative=1; sPID.Integral=0.00001; sPID.Command=10; motorInit(&m_motor); while(k=1000) fprintf(fp,%d 設(shè)定值=%f 被控量=%f 偏差=%f 控制量=%fn,k,sPID.Command,y,sPID.Command-y,u); u=PIDCale(&sPID,y); y=motorCal(&m_motor,u); k+; printf(%fn,y); fclose(fp);增量式PID控制C語(yǔ)言代碼增量式PID控制C語(yǔ)言代碼 / 定義PID參數(shù)結(jié)構(gòu)體/typedef struct PID /結(jié)構(gòu)體定義 int SetPoint /設(shè)定值 int Proportion; / Proportion 比例系數(shù) int Integral; / Integral 積分系數(shù) int Derivative; / Derivative 微分系數(shù) int LastError; / Error-1 前一拍誤差 int PreError; / Error-2 前兩拍誤差 PID;main() PID vPID; /定義結(jié)構(gòu)變量名PIDInit ( &vPID ); /Initialize StructurevPID.Proportion = 10; /Set PID Coefficients vPID.Integral = 10; / Set PID Integral vPID.Derivative = 10; / Set PID Derivative vPID. SetPoint = /根據(jù)實(shí)際情況設(shè)定 while(1) Verror=Measure(); /得到AD的輸出值 Error =vPID. SetPoint- Verror; /與設(shè)定值比較，得到誤差值tempi=PIDCal(&vPID, Error; laser.Value+=tempi; / Value與Num2為共同體，共同體名laserLASERH=laser.Num0;LASERL=laser.Num1; /Title:PID參數(shù)初始化/Description: Proportion=0/ Integral=0/ LastError=0/Input: PID的P、I控制常數(shù)和之前的誤差量（PID *pp）/Return: /void PIDInit (PID *pp) /PID參數(shù)初始化，都置0 memset ( pp,0,sizeof(PID);/memset()的函數(shù)， 它可以一字節(jié)一字節(jié)地把整個(gè)數(shù)組設(shè)置為一個(gè)指定的值。/ memset()函數(shù)在mem.h頭文件中聲明，它把數(shù)組的起始地址作為其第一個(gè)參數(shù)，/第二個(gè)參數(shù)是設(shè)置數(shù)組每個(gè)字節(jié)的值，第三個(gè)參數(shù)是數(shù)組的長(zhǎng)度(字節(jié)數(shù)，不是元素個(gè)數(shù))。/其函數(shù)原型為：void *memset(void*，int，unsigned)；/頭文件 /Title:增量式PID算法程序/Description:給出一個(gè)誤差增量/Input: PID的P、I控制常數(shù)和之前的誤差量（PID *pp）& 當(dāng)前誤差量（ThisError）/Return: 誤差增量templ/int PIDCal( PID *pp, int ThisError ) /增量式PID算法（需要控制的不是控制量的絕對(duì)值，而是控制量的增量） int pError,dError,iError;long templ; pError = ThisError-pp-LastError; iError = ThisError; dError = ThisError-2*(pp-LastError)+p