增量式PID控制算法Matlab仿真程序设一被控对象G（s）=50/(0.125s2+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=1 kp=10;ki=0.1;kd=15; rin(k)=1; %Step Signalelseif S=2 kp=10;ki=0.1;kd=15; %Sine Signal rin(k)=0.5*sin(2*pi*k*ts); end du(k)=kp*x(1)+kd*x(2)+ki*x(3); %PID Controlleru(k)=u_1+du(k);%Restricting the output of controllerif u(k)=5 u(k)=5;endif u(k)=110 u(k)=110;endif u(k)=10 u(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 #includetypedef 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,double feedback) 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) double y=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