温度控制传递函数 增量式PID系数 MATLAB仿真.doc

温度控制传递函数_增量式PID系数_MATLAB仿真clear all;
close all;
ts=;
sys=tf([5],[8,1],'inputdelay',10);
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;
y_1=0;y_2=0;y_3=0;
error_1=0;error_2=0;
x=[0,0,0];
for k=1:1:200
time(k)=k*ts;
yout(k)=-den(2)*y_1+num(2)*u_5;
rin(k)=1;
error(k)=rin(k)-yout(k);
kp=1;
ki=0;
kd=0;
du(k)=kp*x(1)+kd*x(2)+ki*x(3);
u(k)=u_1+du(k);
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);
x(1)=error(k)-error_1;
x(2)=error(k)-2*error_1+error_2;
x(3)= error(k);
error_2=error_1;
error_1=error(k);
end
hold on
hold on
plot(time,rin,'g',time,yout,'r','linewidth',2)
xlabel('time(s)')
ylabel('rin,yout')
ts=;
sys=tf([5],[8,1],'inputdelay',10);
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;
y_1=0;y_2=0;y_3=0;
error_1=0;error_2=0;
x=[0,0,0];
for k=1:1:200
time(k)=k*ts;
yout(k)=-den(2)*y_1+num(2)*u_5;
rin(k)=1;
error(k)=rin(k)-yout(k);
kp=2;
ki=0;
kd=0;
du(k)=kp*x(1)+kd*x(2)+ki*x(3);
u(k)=u_1+du(k);
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);
x(1)=error(k)-error_1;
x(2)=error(k)-2*error_1+error_2;
x(3)= error(k);
error_2=error_1;
error_1=error(k);
end
hold on
plot(time,yout,'b','linewidth',2)
xlabel('time(s)')
ylabel('rin,yout')
ts=;
sys=tf([5],[8,1],'inputdelay',10);
dsys=c2d(sys,ts,'zoh');
[num,den]=tf