计算机控制PID编程实现Word下载.docx
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三实验步骤1.对象动态特性实验
（1）差分方程见附录：
（2）编制程序如下：
#include“iostream.h“#include“fstream.h“voidmain（）{fstreamoutfile（“data1.xls“,ios:
:
out）;
inti,j;
intt;
for（j=0;
jj++）{cout“输入采样周期:
“;
cint;
doubleu;
doubley;
for（i=0;
ii++）{u[i]=1.0;
y[i]=0.0;
}for（i=2;
（i-2）*ti++）{y[i]=u[i]/（1.0+100.0/t/t+20.0/t）-（100.0/t/t）*y[i-2]/（1.0+100.0/t/t+20.0/t）+（200.0/t/t+20.0/t）*y[i-1]/（1.0+100.0/t/t+20.0/t）;
}for（i=1;
（i-1）*ti++）couty[i]＇＼t＇;
for（i=2;
（i-2）*ti++）{outfile（i-2）*t＇＼t＇;
}outfile＇＼n＇;
for（i=1;
（i-1）*ti++）{outfiley[i]＇＼t＇;
}outfile.close（）;
}（3）输出结果如下：
周期T=1：
00.***-*****0.***-*****0.***-*****0.0*****0.***-*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.9120XX年0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.98340.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****周期T=2：
00.***-*****0.***-*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****周期T=3：
00.***-*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****阶跃曲线图如下：
周期T分别1,2,3。
2.单回路PID控制实验
（1）工程整定程序如下：
#include“iostream.h“voidmain（）{inti,k;
doublet,k1;
doublem,n,x,l,c,p,f,d;
doublej=0;
cout“输入采样周期:
doublee;
ii++）{y[i]=u[i]/（1.0+100.0/t/t+20.0/t）-（100.0/t/t）*y[i-2]/（1.0+100.0/t/t+20.0/t）+（200.0/t/t+20.0/t）*y[i-1]/（1.0+100.0/t/t+20.0/t）;
ii++）{if（j=（y[i+1]-y[i]））{j=y[i+1]-y[i];
k=i;
k1=（k-1）*t;
}}m=（y[k]+y[k+1]）/2.0;
n=（2.0*k1+t）/2.0;
x=（y[k+1]-y[k]）/t;
l=n-m/x;
c=（1.0-m）/x+n-l;
cout“最大值k1的取值及对应的输出值：
“k1＇＼t＇y[k]＇＼t＇y[k+1]＇＼n＇;
cout“斜率“xendl;
cout“延迟为“（l+t/2.0）＇＼n＇“时间常数为“cendl;
cout“延迟/时间常数为“（（l+t/2.0）/c）endl;
if（（（l+t/2.0）/c）=0.2）{p=0.38*（（（l+t/2.0）/c）+0.88）/（（（l+t/2.0）/c）-0.15）;
f=0.81*c+0.19*（l+t/2.0）;
d=0.25*c;
}else{p=1.2*c/（l+t/2.0）;
f=2*（l+t/2.0）;
d=0.5*（l+t/2.0）;
}cout“整定参数为：
“endl;
cout“Kp=“pendl;
cout“Ti=“fendl;
cout“Td=“dendl;
}
（2）输出结果：
Kp=11.5323Ti=5.*****Td=1.*****注：
以上整定的参数是在采样周期T=1时候的结果，为简化处理，采用该参数作为PID调节器的参数。
3.具有积分分离的控制系统
（1）差分方程见附录：
#include“iostream.h“#include“math.h“#include“fstream.h“voidmain（）{fstreamoutfile（“data1.xls“,ios:
inti,k,i1;
doublesx,aa,bb,cc,dd1,dd2,ee,ff;
doublej=0.0;
doubleu1;
doubley1;
doubler;
//以上为PID整定程序。
//以下为给定值阶跃程序。
aa=（1.0+10.0/t）*（1.0+10.0/t）;
bb=20.0*（1.0+10.0/t）/t;
cc=100.0/t/t;
dd1=（1.0+t/f+d/t）;
dd2=（1.0+d/t）;
ee=（1.0+2.0*d/t）;
ff=d/t;
cout“相关参数:
coutaa＇＼t＇bb＇＼t＇cc＇＼t＇dd1＇＼t＇dd2＇＼t＇ee＇＼t＇ffendl;
for（i1=0;
i1i1++）{cout“输入积分限:
cinsx;
ii++）{r[i]=1.0;
e[i]=0.0;
u1[i]=0.0;
y1[i]=0.0;
}u1=p*aa*dd1*r/（aa+p*dd1）;
y1=0.0;
e=1.0;
if（sxfabs（e））{u1=u1*（aa+bb+p*ee）/（aa+p*dd2）+p/（aa+p*dd2）*（aa*dd2*r-（bb*dd2+aa*ee）*r）;
}else{u1=u1*（aa+bb+p*ee）/（aa+p*dd1）+p/（aa+p*dd1）*（aa*dd1*r-（bb*dd1+aa*ee）*r）;
}y1=u1/（1.0+100.0/t/t+20.0/t）;
e=r-y1;
if（sxfabs（e））{u1=u1*（aa+bb+p*ee）/（aa+p*dd2）-（bb+cc+p*ff）/（aa+p*dd2）*u1+p/（aa+p*dd2）*（aa*dd2*r-（bb*dd2+aa*ee）*r+（dd2*cc+bb*ee+aa*ff）*r）;
}else{u1=u1*（aa+bb+p*ee）/（aa+p*dd1）-（bb+cc+p*ff）/（aa+p*dd1）*u1+p/（aa+p*dd1）*（aa*dd1*r-（bb*dd1+aa*ee）*r+（dd1*cc+bb*ee+aa*ff）*r）;
}y1=u1/（1.0+100.0/t/t+20.0/t）-（100.0/t/t）*y/（1.0+100.0/t/t+20.0/t）+（200.0/t/t+20.0/t）*y/（1.0+100.0/t/t+20.0/t）;
if（sxfabs（e））{u1=u1*（aa+bb+p*ee）/（aa+p*dd2）-（bb+cc+p*ff）/（aa+p*dd2）*u1+（cc）/（aa+p*dd2）*u1+p/（aa+p*dd2）*（aa*dd2*r-（bb*dd2+aa*ee）*r+（dd2*cc+bb*ee+aa*ff）*r-（cc*ee+bb*ff）*r）;
}else{u1=u1*（aa+bb+p*ee）/（aa+p*dd1）-（bb+cc+p*ff）/（aa+p*dd1）*u1+（cc）/（aa+p*dd1）*u1+p/（aa+p*dd1）*（aa*dd1*r-（bb*dd1+aa*ee）*r+（dd1*cc+bb*ee+aa*ff）*r-（cc*ee+bb*ff）*r）;
if（sxfabs（e））{u1=u1*（aa+bb+p*ee）/（aa+p*dd2）-（bb+cc+p*ff）/（aa+p*dd2）*u1+（cc）/（aa+p*dd2）*u1+p/（aa+p*dd2）*（aa*dd2*r-（bb*dd2+aa*ee）*r+（dd2*cc+bb*ee+aa*ff）*r-（cc*ee+bb*ff）*r+ff*cc*r）;
}else{u1=u1*（aa+bb+p*ee）/（aa+p*dd1）-（bb+cc+p*ff）/（aa+p*dd1）*u1+（cc）/（aa+p*dd1）*u1+p/（aa+p*dd1）*（aa*dd1*r-（bb*dd1+aa*ee）*r+（dd1*cc+bb*ee+aa*ff）*r-（cc*ee+bb*ff）*r+ff*cc*r）;
for（i=6;
ii++）{if（sxfabs（e[i-1]））{u1[i]=u1[i-1]*（aa+bb+p*ee）/（aa+p*dd2）-（bb+cc+p*ff）/（aa+p*dd2）*u1[i-2]+（cc）/（aa+p*dd2）*u1[i-3]+p/（aa+p*dd2）*（aa*dd2*r[i]-（bb*dd2+aa*ee）*r[i-1]+（dd2*cc+bb*ee+aa*ff）*r[i-2]-（cc*ee+bb*ff）*r[i-3]+ff*cc*r[i-4]）;
}else{u1[i]=u1[i-1]*（aa+bb+p*ee）/（aa+p*dd1）-（bb+cc+p*ff）/（aa+p*dd1）*u1[i-2]+（cc）/（aa+p*dd1）*u1[i-3]+p/（aa+p*dd1）*（aa*dd1*r[i]-（bb*dd1+aa*ee）*r[i-1]+（dd1*cc+bb*ee+aa*ff）*r[i-2]-（cc*ee+bb*ff）*r[i-3]+ff*cc*r[i-4]）;
}y1[i]=u1[i]/（1.0+100.0/t/t+20.0/t）-（100.0/t/t）*y[i-2]/（1.0+100.0/t/t+20.0/t）+（200.0/t/t+20.0/t）*y[i-1]/（1.0+100.0/t/t+20.0/t）;
e[i]=r[i]-y1[i];
}cout“U1的曲线为“endl;
ii++）{coutu1[i]＇＼t＇;
}cout“Y1的曲线为“endl;
ii++）{couty1[i]＇＼t＇;
ii++）{outfile（i-1）*t＇＼t＇;
}outfileendl;
ii++）{outfileu1[i]＇＼t＇;
ii++）{outfiley1[i]＇＼t＇;
积分限较小时：
U（t）的阶跃数据：
24.41927.*****7.*****8.*****10.204211.428412.484513.3413.989614.447414.738614.894114.945914.924114.854914.759814.655414.553614.461914.384814.323814.278614.247914.229414.220614.21914.05313.627112.908611.913310.69049.31017.*****6.*****5.003043.74152.*****1.75231.059780.*****0.*****0.*****0.***-*****0.*****0.*****0.*****0.*****0.*****1.*****1.*****1.*****1.*****1.*****1.*****1.*****1.*****1.*****1.21031.*****1.075341.019110.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****1.001431.012231.020XX年1.024891.026991.026741.024621.021151.016861.012211.007611.003390.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****1.00021.00092Y（t）的阶跃数据：
00.***-*****0.***-*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****积分限适中时：
U（t）阶跃数据：
24.41927.*****7.*****8.*****10.204211.428412.484513.3413.989614.447414.738614.894114.767214.289813.456512.308310.91729.37177.*****6.*****4.*****3.38612.*****1.*****0.*****0.*****0.***-*****-0.***-*****-0.***-*****0.*****0.*****0.*****0.*****0.*****1.*****1.*****1.*****1.*****1.49251.*****1.*****1.*****1.*****1.20XX年91.*****1.054510.*****0.*****0.*****0.*****0.*****0.*****0.*****0.920XX年30.*****0.*****0.*****0.*****1.007281.018071.025451.029551.030721.029441.02631.021891.016791.01151.006441.001940.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****1.000611.001331.001811.002061.002111.001991.001751.001441.001081.000711.000371.000070.*****0.*****0.*****0.*****Y（t）阶跃数据：
00.***-*****0.***-*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*****0.*
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