基于MATLAB的PID参数调整方法的仿真研究

201124(1967)MATLABPID(830052)MATLABMATLABSimulinkPID—PIDPIDMATLABTP273A16724801(2011)0100404PIDproportional-integral-derivativePIDPIDPIDPIDPID[1]MATLABMATLABSimulink[2]1PIDMATLAB1.1Ziegler-NicholsMATLABZiegler-NicholsPID[3]πωωπ/,4/,6.0mpimpdmpKKKKKK===pKKmω)10030(100)(2++=ssssGMATLABrlocusrlocfind10.0932mK=10/mradsω=PID0559.6=pK4756.0=dK2765.19=iKmKmωMATLAB1num=[100];den=[1301000];[z,p,k]=tf2zp(num,den);G=zpk(z,p,k)Zero/pole/gain:100--------------------s(s+26.18)(s+3.82)rlocus(G)gridonrlocfind(G);Selectapointinthegraphicswindowselected_point=-0.0000+10.0932i(23)%PIDControlerBasedonZiegler-Nicholsclearall;closeall;sys=tf(100,[1,30,100,0]);figure(1);rlocus(sys);[km,pole]=rlocfind(sys)wm=imag(pole(2));kp=0.6*kmkd=kp*pi/(4*wm)ki=kp*wm/pifigure(2);gridon;bode(sys,'r');sys_pid=tf([kd,kp,ki],[1,0])sysc=series(sys,sys_pid)holdon;1MATLABPID5bode(sysc,'b')figure(3);rlocus(sysc);123231.2MATLABT∆pKiKdK[4](1)minT∆1/10(2)minT∆kδkT(3)∫∞02mindteSimdteDCdte×⎥⎦⎤⎢⎣⎡×⎥⎦⎤⎢⎣⎡=∫∫∞∞0202minminDCSim(4)1T∆pKiKdK1T∆pKiKdKT∆pKiKdK1.05PIPID0.03kT0.014kT0.53kδ0.63kδ0.88kδ0.49kδ0.14kT1.2PIPID0.05kT0.043kT0.49kδ0.47kδ0.91kδ0.47kδ0.16kT1.5PIPID0.14kT0.09kT0.42kδ0.34kδ0.99kδ0.43kδ0.20kT2.0PIPID0.22kT0.16kT0.36kδ0.27kδ1.05kδ0.40kδ0.22kTPIPIDPIPID0.57kδ0.70kδ0.45kδ0.60kδ0.83kδ0.50kδ0.83kδ0.50kδ0.13kT0.125kT201126(5)DCSPID22DCSPIDpKiK/mindK/min12.50.1101.653100.531.43.50.4301.2550.410.41MATLABSimulinkGs=ss251332+44Simulink2PIDpKiKdK5678[5]5678PID5pK=1iK=0.1dK=06pK=2.5iK=1dK=07pK=1.6iK=3dK=0.58pK=5iK=10dK=32MATLABSimulinkPIDPIDPIDPID1Matlab152.3λ=312A2400r/min4A01.6s1s4A1.62.2s3matlab/simulinkmatlab/simulinksimpowersystemsmatlab/simulink:[1].[M].2002.[2],,.BuckAC/AC[J]200722873-76.[3].MATLAB[M]2006.[4].[J]2009419-21.[5],.matlab/simulink[J]2009325174-175┼178.[6].PSIM[J]2009237-39.[1],,.PID[J].200026(3)347-355.[2].MATLAB/Simulink[M].2002.[3].PIDMATLAB.[M].2004.[4],.(2)[M].2004.[5].MATLABCAD[M].,2004.