num=20; den=[8 6 1]; [a1,b1,c1,d]=tf2ss(num,den); T=0.01;h=T; N=500; R=1.5*ones(1,N); %pid e=0;de=0;ie=0; kp=4;ki=0.5;kd=1.5; x=[0;0]; for k=1:N u1=-(kp*e+ki*ie+kd*de); k0=a1*x+b1*u1; k1=a1*(x+h*k0/2)+b1*u1; k2=a1*(x+h*k1/2)+b1*u1; k3=a1*(x+h*k2)+b1*u1; x=x+(k0+2*k1+2*k2+k3)*h/6; y=c1*x+d*u1; e1=e; ...

时间:2024-12-16 10:39栏目:行业资料