%Increment?PID?Controller
clear?all;
close?all;

ts=0.001;
sys=tf（400[1500]）;
dsys=c2d（systs‘z‘）;
[numden]=tfdata（dsys‘v‘）;

u_1=0.0;u_2=0.0;u_3=0.0;
y_1=0;y_2=0;y_3=0;

x=[000]‘;

error_1=0;
error_2=0;
for?k=1:1:1000
???time（k）=k*ts;
???
???rin（k）=1.0;
???kp=8;
???ki=0.10;
???kd=10;
???
???du（k）=kp*x（1）+kd*x（2）+ki*x（3）;?
???u（k）=u_1+du（k）;

???if?u（k）>=10
??????u（k）=10;
???end
???if?u（k）<=-10
??????u（k）=-10;
???end???
???yout（k）=-den（2）*y_1-den（3）*y_2+num（2）*u_1+num（3）*u_2;
???
???error=rin（k）-yout（k）;
???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-error_1;?????????????%Calculating?P
???x（2）=error-2*error_1+error_2;???%Calculating?D
???x（3）=error;?????????????????????%Calculating?I
???
???error_2=error_1;
???error_1=error;
end
plot（timerin‘b‘timeyout‘r‘）;
xlabel（‘time（s）‘）;ylabel（‘rinyout‘）;

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

?????文件??????22531??2018-01-21?16:45??增量式PID控制算法及仿真程序.pdf

?????文件????????897??2004-06-13?12:19??chap1_12.m

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

????????????????23428????????????????????2