clear?all;
close?all;
ts=0.001;
sys=tf（[7.114295.6][11735107]）;
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];
?kp=21;
?ki=2.21;
?kd=0;
error_1=0;
error_2=0;
for?k=1:1:200
????time（k）=k*ts;
????
????yd（k）=30.0;
???
????
????du（k）=kp*x（1）+ki*x（2）+kd*x（3）;
????u（k）=u_1+du（k）;
????
????if?u（k）>=1000
????????u（k）=1000;
????end
????if?u（k）<=-1000
????????u（k）=1000;
????end
????
????y（k）=-den（2）*y_1-den（3）*y_2+num（2）*u_1+num（3）*u_2;
????
????error=yd（k）-y（k）;
????u_3=u_2;?u_2=u_1;?u_1=u（k）;
????y_3=y_2;?y_2=y_1;?y_1=y（k）;
????
????x（1）=error-error_1;
????x（2）=error;
????x（3）=error-2*error_1+error_2;
????
????error_2=error_1;
????error_1=error;
end

figure（1）;
plot（timeyd‘r‘timey‘k‘‘linewidth‘2）;
xlabel（‘time（s）‘）;?ylabel（‘n（r/min）‘）;
legend（‘期望值‘‘PID響應‘4）;
????
????

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

?????文件??????17870??2018-12-06?22:36??增量式PID的simulinks仿真\IncrementalPID.slx

?????文件????????901??2018-11-29?11:21??增量式PID的simulinks仿真\IncrementPID.m

?????目錄??????????0??2018-12-10?10:55??增量式PID的simulinks仿真

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

????????????????18771????????????????????3