1、内容简介
离散pid控制
323-可以交流、咨询、答疑
2、内容说明
PID控制
sys =
4.8
---------
180 s + 1
离散得到
dsys =
0.02659
----------
z - 0.9945
Sample time: 1 seconds
Discrete-time transfer function
P=1的时候
P =1.36, i=0.046 d=0;
![](https://img.laitimes.com/img/_0nNw4CM6IyYiwiM6ICdiwiI0gTMx81dsQWZ4lmZf1GLlpXazVmcvwFciV2dsQXYtJ3bm9CX9s2RkBnVHFmb1clWvB3MaVnRtp1XlBXe0xCMy81dvRWYoNHLwEzX5xCMx8FesU2cfdGLwMzX0xiRGZkRGZ0Xy9GbvNGLpZTY1EmMZVDUSFTU4VFRR9Fd4VGdsYTMfVmepNHLrJXYtJXZ0F2dvwVZnFWbp1zczV2YvJHctM3cv1Ce-cmbw5SO1gjMzcDO2MTZhdjNlVjYyYzX2QTOyADM1IzLcZDMyIDMy8CXn9Gbi9CXzV2Zh1WavwVbvNmLvR3YxUjLyM3Lc9CX6MHc0RHaiojIsJye.png)
在这儿调整pid的参数值可以得到不同的响应曲
3、仿真分析
clc
close all
clear
num = 4.8;
den = [180 1];
sys = tf(num,den)
Ts = 1;
dsys=c2d(sys,Ts,'z'); % 离散传递函数
[num,den]=tfdata(dsys,'v'); % 离散传递函数分子分母
sys1 = tf(num,den,'inputdelay',300)
dsys1=c2d(sys1,Ts,'z'); % 离散传递函数
[num1,den1]=tfdata(dsys1,'v'); % 离散传递函数分子分母