增量式PID控制算法Matlab仿真程序设一被控对象G（s）=50/(0.125s^2+7s),用增量式PID控制算法编写仿真程序（输入分别为单位阶跃、正弦信号，采样时间为1ms，控制器输出限幅：[-5,5],仿真曲线包括系统输出及误差曲线，并加上注释、图例）。

程序如下clear all;close all;ts=0.001;sys=tf(50,[0.125,7, 0]);dsys=c2d(sys,ts,'z');[num,den]=tfdata(dsys,'v');u_1=0.0;u_2=0.0;y_1=0.0;y_2=0.0;x=[0,0,0]';error_1=0;error_2=0;for k=1:1:1000time(k)=k*ts;S=2;if S==1kp=10;ki=0.1;kd=15;rin(k)=1; % Step Signalelseif S==2kp=10;ki=0.1;kd=15; %Sin e Signalrin(k)=0.5*sin(2*pi*k*ts);enddu(k)=kp*x(1)+kd*x(2)+ki*x(3); % PID Controlleru(k)=u_1+du(k); %Restricting the output of controller if u(k)>=5u(k)=5;endif u(k)<=-5u(k)=-5;end%Linear modelyout(k)=-den(2)*y_1-den(3)*y_2+nu m(2)*u_1+num(3)*u_2;error(k)=rin(k)-yout(k);%Return of parametersu_2=u_1;u_1=u(k);y_2=y_1;y_1=yout(k);x(1)=error(k)-error_1; %C alculating Px(2)=error(k)-2*error_1+error_2;%Calculating Dx(3)=error(k); %Calculating I error_2=error_1;error_1=error(k);endfigure(1);plot(time,rin,'b',time,yout,'r'); xlabel('time(s)'),ylabel('rin,yout'); figure(2);plot(time,error,'r')xlabel('time(s)');ylabel('error');微分先行PID算法Matlab仿真程序%PID Controler with differential in advanceclear all;close all;ts=20;sys=tf([1],[60,1],'inputdelay',80); dsys=c2d(sys,ts,'zoh');[num,den]=tfdata(dsys,'v');u_1=0;u_2=0;u_3=0;u_4=0;u_5=0;ud_1=0;y_1=0;y_2=0;y_3=0;error_1=0;error_2=0;ei=0;for k=1:1:400time(k)=k*ts;%Linear modelyout(k)=-den(2)*y_1+num(2)*u_5; kp=0.36;kd=14;ki=0.0021;rin(k)=1.0*sign(sin(0.00025*2*pi*k*ts ));error(k)=rin(k)-yout(k);ei=ei+error(k)*ts;gama=0.50;Td=kd/kp;Ti=0.5;c1=gama*Td/(gama*Td+ts);c2=(Td+ts)/(gama*Td+ts);c3=Td/(gama*Td+ts);M=1;if M==1 %PID Control with differential in advanceud(k)=c1*ud_1+c2*yout(k)-c3*y_ 1;u(k)=kp*error(k)+ud(k)+ki*ei; elseif M==2 %Simple PID Control u(k)=kp*error(k)+kd*(error(k)-er ror_1)/ts+ki*ei;endif u(k)>=110u(k)=110;endif u(k)<=-110u(k)=-110;end%Update 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);endfigure(1);plot(time,rin,'r',time,yout,'b'); xlabel('time(s)');ylabel('rin,yout'); figure(2);plot(time,u,'r');xlabel('time(s)');ylabel('u');不完全微分PID算法Matlab仿真程序%PID Controler with Partial differentialclear all;close all;ts=20;sys=tf([1],[60,1],'inputdelay',80); dsys=c2d(sys,ts,'zoh');[num,den]=tfdata(dsys,'v');u_1=0;u_2=0;u_3=0;u_4=0;u_5=0; ud_1=0;y_1=0;y_2=0;y_3=0;error_1=0;ei=0;for k=1:1:100time(k)=k*ts;rin(k)=1.0;%Linear modelyout(k)=-den(2)*y_1+num(2)*u_5; error(k)=rin(k)-yout(k);%PID Controller with partly differentialei=ei+error(k)*ts;kc=0.30;ki=0.0055;TD=140;kd=kc*TD/ts;Tf=180;Q=tf([1],[Tf,1]); %Low Freq Signal FilterM=2;if M==1 %Using PID with Partial differential加在简单PID后的不完全微分alfa=Tf/(ts+Tf);u(k)=alfa*u_1+(1-alfa)*(kc*error( k)+kd*(error(k)-error_1)+ki*ei);u_1=u(k);elseif M==2 %Using PID with Partial differential只加在微分环节上的不完全微分alfa=Tf/(ts+Tf);ud(k)=kd*(1-alfa)*(error(k)-error _1)+alfa*ud_1;u(k)=kc*error(k)+ud(k)+ki*ei;ud_1=ud(k);elseif M==3 %Using Simple PID 简单的PID微分u(k)=kc*error(k)+kd*(error(k)-err or_1)+ki*ei;end%Restricting the output of controller if u(k)>=10u(k)=10;endif u(k)<=-10u(k)=-10;endu_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_1=error(k);endfigure(1);plot(time,rin,'b',time,yout,'r'); xlabel('time(s)');ylabel('rin,yout'); figure(2);plot(time,u,'r');xlabel('time(s)');ylabel('u');figure(3);plot(time,rin-yout,'r');xlabel('time(s)');ylabel('error'); figure(4);bode(Q,'r');dcgain(Q);C语言PID演示程序#include <string.h>#include<stdio.h>typedef struct PID{double Command; //输入指令double Proportion; //比例系数double Integral; //积分系数double Derivative; //微分系数double preErr; //前一拍误差double sumErr; //误差累积}PID;double PIDCale(PID *p,doublefeedback){double dErr,Err;Err=p->Command-feedback; //当前误差p->sumErr+=Err; //误差累加dErr=Err-p->preErr; //误差微分p->preErr=Err;return(p->Proportion*Err //比例项+p->Derivative*dErr //微分项+p->Integral*p->sumErr); //积分项}void PIDInit(PID *p){memset(p,0,sizeof(PID)); //初始化}typedef struct motor{double lastY;double preY;double lastU;double preU;}motor;void motorInit(motor *m){memset(m,0,sizeof(motor));} double motorCal(motor *m,double u){doubley=1.9753*m->lastY-0.9753*m->preY+ 0.00003284*u+0.00006568*m->lastU +0.00003284*m->preU;//二阶系统m->preY=m->lastY;m->lastY=y;m->preU=m->lastU;m->lastU=u;return y;}void main(){FILE *fp=fopen("data.txt","w+"); PID sPID;motor m_motor;int k=0;double u;double y=0;PIDInit(&sPID);sPID.Proportion=2;sPID.Derivative=1;sPID.Integral=0.00001;mand=10;motorInit(&m_motor);while(k<=1000){•fprintf(fp,"%d 设定值=%f 被控量=%f 偏差=%f 控制量=%f\n",k,mand,y,sPImand-y,u);u=PIDCale(&sPID,y);y=motorCal(&m_motor,u);k++;}printf("%f\n",y);fclose(fp);}增量式PID控制C语言代码增量式PID控制C语言代码/////////////////////////////// /////////////////////////////// //// 定义PID参数结构体/////////////////////////////// /////////////////////////////// /typedef struct PID {//结构体定义int SetPoint//设定值int Proportion; / / Proportion 比例系数int Integral;// Integral 积分系数int Derivative;// Derivative 微分系数int LastError; / / Error[-1] 前一拍误差int PreError; / / Error[-2] 前两拍误差} PID;main() {PID vPID;//定义结构变量名PIDInit ( &vPID );//Initialize StructurevPID.Proportion = 10;//Set PID CoefficientsvPID.Integral = 10;// Set PID IntegralvPID.Derivative = 10;// Set PID DerivativevPID. SetPoint =//根据实际情况设定while(1){Verror=Measure();//得到AD的输出值Error =vPID. SetPoint- Verr or; //与设定值比较，得到误差值tempi=PIDCal(&vPID, Error;laser.Value+=tempi;// Value与Num[2]为共同体，共同体名laserLASERH=laser.Num[0];LASERL=laser.Num[1];}}/////////////////////////////// /////////////////////////////// ///////////Title:PID参数初始化//Description: Proportion="0"// Integral=0// LastError=0//Input: PID的P、I控制常数和之前的误差量（PID *pp）//Return://///////////////////////////// /////////////////////////////// ////////void PIDInit (PID *pp)//PID参数初始化，都置0 {memset ( pp,0,sizeof(PID));//memset()的函数，它可以一字节一字节地把整个数组设置为一个指定的值。