%該程序為“無人機飛行PID控制及智能PID控制技術研究-李瑋”論文中第五章滾轉控制律的分析與設計程序
%該程序為5.2節“傾斜姿態保持/控制模態”中狀態點G在智能PID控制下的仿真程序
%該程序的核心模塊為simulink程序模塊，“PIDFig5_2.mdl”


clear?all
close?all

%PID控制器控制參數
%?Kp1=0.02;
%?Ki1=0.2;
%?Kd1=0.0;
%?
%?Kp2=1.5;
%?Ki2=0.2;
%?Kd2=1.8;


Kp2=0.02;
Ki2=0.2;
Kd2=0.0;

Kp1=1.5;
Ki1=0.2;
Kd1=1.8;

%狀態點A處，其縱向線性化狀態方程狀態矩陣
A=[-0.09810.131010.0411;...
????-14.733-1.2100-0.53480;...
????-7.5150.0108-0.17910;...
????0100];
B=[0-0.0189;-28.524-5.0600;0-6.2630;00];
%B=[0;-28.524;0;0];
C=[1000;...
????0100;...
????0010;...
????0001];
D=[00;00;00;00];
%D=[0;0;0;0];

sim（‘PIDFig5_5G.mdl‘）;

figure（）
plot（Time.signals.values（:）X_1.signals.values）
grid?on
title（‘智能PID控制下航向角階躍響應（點G）‘）

figure（）
plot（Time.signals.values（:）X_4.

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

?????文件???????1001??2015-05-19?20:51??無人機飛行器?論文+matlab仿真\UAV_Control_PID\Heading_IntelligencePIDFig5_5_G.m

?????文件????????920??2015-05-19?19:29??無人機飛行器?論文+matlab仿真\UAV_Control_PID\Heading_RoutinePIDFig5_5_G.asv

?????文件???????1000??2015-05-19?20:45??無人機飛行器?論文+matlab仿真\UAV_Control_PID\Heading_RoutinePIDFig5_5_G.m

?????文件????????931??2015-05-16?12:16??無人機飛行器?論文+matlab仿真\UAV_Control_PID\High_IntelligencePIDFig4_21_D.m

?????文件????????931??2015-05-16?12:16??無人機飛行器?論文+matlab仿真\UAV_Control_PID\High_RoutinePIDFig4_20_D.m

?????文件????????820??2015-05-16?12:23??無人機飛行器?論文+matlab仿真\UAV_Control_PID\IntelligencePIDFig4_8_A.m

?????文件????????815??2015-05-16?12:25??無人機飛行器?論文+matlab仿真\UAV_Control_PID\IntelligencePIDFig4_8_B.m

?????文件????????917??2015-05-15?19:42??無人機飛行器?論文+matlab仿真\UAV_Control_PID\IntelligencePIDFig4_8_C.m

?????文件????????919??2015-05-16?12:12??無人機飛行器?論文+matlab仿真\UAV_Control_PID\IntelligencePIDFig4_8_D.m

?????文件????????916??2015-05-15?19:43??無人機飛行器?論文+matlab仿真\UAV_Control_PID\IntelligencePIDFig4_8_E.m

?????文件????????919??2015-05-16?12:14??無人機飛行器?論文+matlab仿真\UAV_Control_PID\IntelligencePIDFig4_8_F.m

?????文件??????36701??2015-05-15?19:58??無人機飛行器?論文+matlab仿真\UAV_Control_PID\PIDFig4_20.mdl

?????文件??????53416??2015-05-15?20:06??無人機飛行器?論文+matlab仿真\UAV_Control_PID\PIDFig4_21.mdl

?????文件?????259584??2015-05-15?20:07??無人機飛行器?論文+matlab仿真\UAV_Control_PID\PIDFig4_21_sfun.mexw32

?????文件??????35106??2015-05-15?18:04??無人機飛行器?論文+matlab仿真\UAV_Control_PID\PIDFig4_5.mdl

?????文件??????34573??2015-05-15?19:24??無人機飛行器?論文+matlab仿真\UAV_Control_PID\PIDFig4_5G.mdl

?????文件??????47585??2015-05-15?18:40??無人機飛行器?論文+matlab仿真\UAV_Control_PID\PIDFig4_8.err

?????文件??????52045??2015-05-16?12:24??無人機飛行器?論文+matlab仿真\UAV_Control_PID\PIDFig4_8.mdl

?????文件??????51347??2015-05-15?19:28??無人機飛行器?論文+matlab仿真\UAV_Control_PID\PIDFig4_8G.mdl

?????文件?????259584??2015-05-15?19:35??無人機飛行器?論文+matlab仿真\UAV_Control_PID\PIDFig4_8G_sfun.mexw32

?????文件?????259584??2015-05-16?12:17??無人機飛行器?論文+matlab仿真\UAV_Control_PID\PIDFig4_8_sfun.mexw32

?????文件??????32653??2015-05-19?18:52??無人機飛行器?論文+matlab仿真\UAV_Control_PID\PIDFig5_2.mdl

?????文件??????45412??2015-05-19?20:47??無人機飛行器?論文+matlab仿真\UAV_Control_PID\PIDFig5_5.mdl

?????文件??????72874??2015-05-19?20:50??無人機飛行器?論文+matlab仿真\UAV_Control_PID\PIDFig5_5G.mdl

?????文件?????282112??2015-05-19?20:52??無人機飛行器?論文+matlab仿真\UAV_Control_PID\PIDFig5_5G_sfun.mexw32

?????文件????????774??2015-05-19?18:56??無人機飛行器?論文+matlab仿真\UAV_Control_PID\Roll_RoutinePIDFig5_2_G.m

?????文件????????822??2015-05-15?12:29??無人機飛行器?論文+matlab仿真\UAV_Control_PID\RoutinePIDFig4_5_A.asv

?????文件????????816??2015-05-16?11:50??無人機飛行器?論文+matlab仿真\UAV_Control_PID\RoutinePIDFig4_5_A.m

?????文件????????965??2015-05-15?12:09??無人機飛行器?論文+matlab仿真\UAV_Control_PID\RoutinePIDFig4_5_B.asv

?????文件????????814??2015-05-16?11:50??無人機飛行器?論文+matlab仿真\UAV_Control_PID\RoutinePIDFig4_5_B.m

............此處省略125個文件信息