function?BsJ=PID_SOA（Kpidi）
ts=0.001;
sys=tf（[1.05][6.8e-6?2.47e-3?0.7925]）;
dsys=c2d（systs‘z‘）;
[numden]=tfdata（dsys‘v‘）;
u_1=0.0;u_2=0.0;
y_1=0.0;y_2=0.0;
x=[000]‘;
B=0;
error_1=0;
tu=1;
s=0;
P=100;
for?k=1:1:P
????timef（k）=k*ts;
????r（k）=1;
????u（k）=Kpidi（1）*x（1）+Kpidi（2）*x（3）+Kpidi（3）*x（2）;
????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（k）=r（k）-yout（k）;
????%-------------------Return?of?PID?parameters----------------
????u_2=u_1;u_1=u（k）;
????y_2=y_1;y_1=yout（k）;
????x（1）=error（k）;???????????%?Calculating??P
????x（2）=（error（k）-error_1）/ts;???%??????????D
????x（3）=x（3）+error（k）*ts;???????%???????????I?
????error_2=error_1;
????error_1=error（k）;
????if?s==0
????????if?yout（k）>0.95&yout（k）<1.05
????????????tu=timef（k）;
????????????s=1;
????????end
????end
end
for?i=1:1:P
????Ji（i）=0.999*abs（error（i））+0.01*u（i）^2*0.1;
????B=B+Ji（i）;
????if?i>1
????????erry（i）=yout（i）-yout（i-1）;
????????if?erry（i）<0
????????????B=B+100*abs（erry（i））;
????????end
????end
end
BsJ=B+0.2*tu*10;

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

?????文件????????984??2013-09-26?12:49??shuchuquxianSOA.m

?????文件???????3309??2013-09-26?12:49??SOA.m

?????文件???????1148??2013-09-26?12:49??PID_SOA.m

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

?????????????????5441????????????????????3