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function [Kpidi,BsJ]=pid_gaf(Kpidi,BsJ) 
global rin yout timef 
 
ts=0.001; 
sys=tf(400,[1,50,0]);   
dsys=c2d(sys,ts,'z'); 
[num,den]=tfdata(dsys,'v'); 
 
rin=1.0; 
u_1=0.0;u_2=0.0; 
y_1=0.0;y_2=0.0; 
x=[0,0,0]'; 
B=0; 
error_1=0; 
tu=1; 
s=0; 
P=100; 
 
for k=1:1:P 
   timef(k)=k*ts; 
   r(k)=rin; 
    
   u(k)=Kpidi(1)*x(1)+Kpidi(2)*x(2)+Kpidi(3)*x(3);  
    
   if u(k)>=10 
      u(k)=10; 
   end 
   if u(k)<=-10 
      u(k)=-10; 
   end    
    
   yout(k)=-den(2)*y_1-den(3)*y_2+num(2)*u_1+num(3)*u_2; 
   error(k)=r(k)-yout(k); 
%------------ Return of PID parameters ------------- 
   u_2=u_1;u_1=u(k); 
   y_2=y_1;y_1=yout(k); 
    
   x(1)=error(k);                % Calculating P 
   x(2)=(error(k)-error_1)/ts;   % Calculating D 
   x(3)=x(3)+error(k)*ts;        % Calculating I 
    
   error_2=error_1; 
   error_1=error(k); 
if s==0 
   if yout(k)>0.95&yout(k)<1.05 
      tu=timef(k); 
      s=1; 
   end  
end 
end 
 
for i=1:1:P 
   Ji(i)=0.999*abs(error(i))+0.01*u(i)^2*0.1; 
   B=B+Ji(i);    
  if i>1    
   erry(i)=yout(i)-yout(i-1); 
   if erry(i)<0 
      B=B+100*abs(erry(i)); 
   end     
  end 
end 
BsJ=B+0.2*tu*10;