%PID?Controller?with?changing?integration?rate
clear?all;
close?all;

%Big?time?delay?Plant
ts=20;
sys=tf（[1][601]‘inputdelay‘80）;
dsys=c2d（systs‘zoh‘）;
[numden]=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;
ei=0;

for?k=1:1:200
time（k）=k*ts;

rin（k）=1.0;??%Step?Signal

%Linear?model
yout（k）=-den（2）*y_1+num（2）*u_5;
error（k）=rin（k）-yout（k）;

kp=0.45;kd=12;ki=0.0048;
A=0.4;B=0.6;

%T?type?integration
ei=ei+（error（k）+error_1）/2*ts;?

M=2;
if?M==1?????%Changing?integration?rate
if?abs（error（k））<=B
???f（k）=1;
elseif?abs（error（k））>B&abs（error（k））<=A+B
???f（k）=（A-abs（error（k））+B）/A;
else
???f（k）=0;
end

elseif?M==2??%Not?changing?integration?rate
	f（k）=1;
end

u（k）=kp*error（k）+kd*（error（k）-error_1）/ts+ki*f（k）*ei;

if?u（k）>=10
???u（k）=10;
end
if?u（k）<=-10
???u（k）=-10;
end
%Return?of?PID?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（timerin‘b‘timeyout‘r‘）;
xlabel（‘time（s）‘）;ylabel（‘rinyout‘）;
figure（2）;
plot（timef‘r‘）;
xlabel（‘time（s）‘）;ylabel（‘Integration?rate?f‘）;

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件??????45568??2018-01-21?16:50??變速積分PID控制算法.pdf

?????文件???????1192??2004-06-13?12:22??chap1_16.m

-----------?---------??----------?-----??----

????????????????46760????????????????????2