{"id":915,"date":"2023-10-16T14:03:49","date_gmt":"2023-10-16T06:03:49","guid":{"rendered":"http:\/\/www.zhihuiwater.com\/?p=915"},"modified":"2023-10-16T14:04:21","modified_gmt":"2023-10-16T06:04:21","slug":"%e5%9f%ba%e4%ba%8e-matlab-%e7%9a%84%e6%b0%b4%e5%8e%82%e5%bf%ab%e6%bb%a4%e6%b1%a0%e6%81%92%e6%b0%b4%e4%bd%8d%e6%8e%a7%e5%88%b6%e7%b3%bb%e7%bb%9f%e8%ae%be%e8%ae%a1%e6%96%b9%e6%a1%88","status":"publish","type":"post","link":"http:\/\/www.zhihuiwater.com\/?p=915","title":{"rendered":"\u57fa\u4e8e Matlab \u7684\u6c34\u5382\u5feb\u6ee4\u6c60\u6052\u6c34\u4f4d\u63a7\u5236\u7cfb\u7edf|\u8bbe\u8ba1\u65b9\u6848"},"content":{"rendered":"\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" width=\"1024\" height=\"573\" src=\"http:\/\/www.zhihuiwater.com\/wp-content\/uploads\/2023\/10\/00033-2077751415-masterpiece-best-quality_Title_-Morning-Light__Description_-This-picturesque-image-in-a-beautiful-style-portrays-a-serene-vall-1024x573.png\" alt=\"\" class=\"wp-image-916\" srcset=\"http:\/\/www.zhihuiwater.com\/wp-content\/uploads\/2023\/10\/00033-2077751415-masterpiece-best-quality_Title_-Morning-Light__Description_-This-picturesque-image-in-a-beautiful-style-portrays-a-serene-vall-1024x573.png 1024w, http:\/\/www.zhihuiwater.com\/wp-content\/uploads\/2023\/10\/00033-2077751415-masterpiece-best-quality_Title_-Morning-Light__Description_-This-picturesque-image-in-a-beautiful-style-portrays-a-serene-vall-300x168.png 300w, http:\/\/www.zhihuiwater.com\/wp-content\/uploads\/2023\/10\/00033-2077751415-masterpiece-best-quality_Title_-Morning-Light__Description_-This-picturesque-image-in-a-beautiful-style-portrays-a-serene-vall-768x430.png 768w, http:\/\/www.zhihuiwater.com\/wp-content\/uploads\/2023\/10\/00033-2077751415-masterpiece-best-quality_Title_-Morning-Light__Description_-This-picturesque-image-in-a-beautiful-style-portrays-a-serene-vall-1536x860.png 1536w, http:\/\/www.zhihuiwater.com\/wp-content\/uploads\/2023\/10\/00033-2077751415-masterpiece-best-quality_Title_-Morning-Light__Description_-This-picturesque-image-in-a-beautiful-style-portrays-a-serene-vall.png 1600w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<ol><li>\u7cfb\u7edf\u6982\u8ff0\uff1a<br>\u672c\u65b9\u6848\u91c7\u7528\u57fa\u4e8e<a href=\"http:\/\/www.zhihuiwater.com\/?p=595\" data-type=\"post\" data-id=\"595\"> PID<\/a> \u63a7\u5236\u7b97\u6cd5\u7684\u6c34\u4f4d\u63a7\u5236\u7cfb\u7edf\uff0c\u901a\u8fc7\u5bf9\u6c34\u4f4d\u8bbe\u5b9a\u503c\u4e0e\u5b9e\u9645\u6d4b\u91cf\u503c\u7684\u8c03\u8282\uff0c\u5b9e\u73b0\u5feb\u6ee4\u6c60\u6052\u6c34\u4f4d\u63a7\u5236\u3002\u7cfb\u7edf\u4e3b\u8981\u5305\u62ec\u6c34\u4f4d\u8bbe\u5b9a\u503c\u3001\u5b9e\u9645\u6c34\u4f4d\u6d4b\u91cf\u503c\u3001PID \u63a7\u5236\u5668\u4ee5\u53ca\u6267\u884c\u63a7\u5236\u7684\u6c34\u9600\u7b49\u90e8\u5206\u3002<\/li><li>\u786c\u4ef6\u8bbe\u8ba1\uff1a<br>(1) \u6c34\u4f4d\u4f20\u611f\u5668\uff1a\u7528\u4e8e\u5b9e\u65f6\u6d4b\u91cf\u5feb\u6ee4\u6c60\u7684\u6c34\u4f4d\uff0c\u5c06\u6c34\u4f4d\u4fe1\u53f7\u8f6c\u6362\u4e3a\u7535\u4fe1\u53f7\u3002<br>(2) \u63a7\u5236\u9600\uff1a\u6839\u636e PID \u63a7\u5236\u5668\u8f93\u51fa\u7684\u63a7\u5236\u4fe1\u53f7\uff0c\u8c03\u8282\u8fdb\u6c34\u6216\u6392\u6c34\u91cf\uff0c\u5b9e\u73b0\u6c34\u4f4d\u7684\u63a7\u5236\u3002<br>(3) PID \u63a7\u5236\u5668\uff1a\u91c7\u7528 Matlab \u7f16\u7a0b\u5b9e\u73b0\uff0c\u6839\u636e\u6c34\u4f4d\u8bbe\u5b9a\u503c\u4e0e\u5b9e\u9645\u6d4b\u91cf\u503c\u7684\u504f\u5dee\uff0c\u8ba1\u7b97\u51fa\u63a7\u5236\u9600\u7684\u5f00\u5ea6\u3002<\/li><li>\u8f6f\u4ef6\u8bbe\u8ba1\uff1a<br>(1) \u57fa\u4e8e Matlab \u7684 PID \u63a7\u5236\u7b97\u6cd5\uff1a\u901a\u8fc7\u8c03\u6574\u6bd4\u4f8b\u3001\u79ef\u5206\u3001\u5fae\u5206\u73af\u8282\u7684\u53c2\u6570\uff0c\u5b9e\u73b0\u5bf9\u6c34\u4f4d\u7684\u7cbe\u786e\u63a7\u5236\u3002<br>(2) \u4eba\u673a\u4ea4\u4e92\u754c\u9762\uff1a\u5b9e\u65f6\u663e\u793a\u6c34\u4f4d\u8bbe\u5b9a\u503c\u3001\u5b9e\u9645\u6d4b\u91cf\u503c\u4ee5\u53ca\u63a7\u5236\u9600\u7684\u5f00\u5ea6\uff0c\u5e76\u63d0\u4f9b\u64cd\u4f5c\u63a5\u53e3\uff0c\u65b9\u4fbf\u7528\u6237\u8fdb\u884c\u8bbe\u5b9a\u548c\u8c03\u6574\u3002<\/li><li>\u7cfb\u7edf\u4f18\u70b9\uff1a<br>(1) \u63a7\u5236\u7cbe\u5ea6\u9ad8\uff1a\u91c7\u7528 PID \u63a7\u5236\u7b97\u6cd5\uff0c\u5b9e\u73b0\u5bf9\u6c34\u4f4d\u7684\u7cbe\u786e\u63a7\u5236\u3002<br>(2) \u54cd\u5e94\u901f\u5ea6\u5feb\uff1a\u7cfb\u7edf\u5bf9\u6c34\u4f4d\u53d8\u5316\u7684\u54cd\u5e94\u901f\u5ea6\u8f83\u5feb\uff0c\u80fd\u591f\u53ca\u65f6\u8c03\u6574\u63a7\u5236\u9600\u7684\u5f00\u5ea6\u3002<br>(3) \u7a33\u5b9a\u6027\u597d\uff1a\u7cfb\u7edf\u5177\u6709\u8f83\u597d\u7684\u7a33\u5b9a\u6027\uff0c\u80fd\u591f\u9002\u5e94\u5feb\u6ee4\u6c60\u6c34\u4f4d\u7684\u6ce2\u52a8\u3002<\/li><li>\u5b9e\u65bd\u6b65\u9aa4\uff1a<br>(1) \u5b89\u88c5\u6c34\u4f4d<a href=\"http:\/\/www.zhihuiwater.com\/?p=878\" data-type=\"post\" data-id=\"878\">\u4f20\u611f\u5668<\/a>\u548c\u63a7\u5236\u9600\uff0c\u5e76\u8fde\u63a5\u5230 PID \u63a7\u5236\u5668\u3002<br>(2) \u7f16\u5199 Matlab \u7a0b\u5e8f\uff0c\u5b9e\u73b0 PID \u63a7\u5236\u7b97\u6cd5\u3002<br>(3) \u642d\u5efa\u4eba\u673a\u4ea4\u4e92\u754c\u9762\uff0c\u663e\u793a\u5b9e\u65f6\u6c34\u4f4d\u4fe1\u606f\u53ca\u63a7\u5236\u9600\u5f00\u5ea6\u3002<br>(4) \u6839\u636e\u5b9e\u9645\u60c5\u51b5\u8c03\u6574 PID \u53c2\u6570\uff0c\u4f18\u5316\u63a7\u5236\u6548\u679c\u3002<br>\u672c\u65b9\u6848\u57fa\u4e8e Matlab \u7f16\u7a0b\u5b9e\u73b0\uff0c\u9002\u7528\u4e8e\u6c34\u5382\u5feb\u6ee4\u6c60\u7684\u6052\u6c34\u4f4d\u63a7\u5236\u3002\u901a\u8fc7\u5408\u7406\u7684\u786c\u4ef6\u8bbe\u8ba1\u548c\u8f6f\u4ef6\u8bbe\u8ba1\uff0c\u4ee5\u53ca\u4f18\u5316\u7684 PID \u53c2\u6570\u8bbe\u7f6e\uff0c\u53ef\u4ee5\u5b9e\u73b0\u5bf9\u5feb\u6ee4\u6c60\u6c34\u4f4d\u7684\u7cbe\u786e\u3001\u5feb\u901f\u3001\u7a33\u5b9a\u63a7\u5236\u3002<\/li><\/ol>\n\n\n\n<pre class=\"wp-block-code\"><code>% \u53c2\u6570\u8bbe\u7f6e  \nKp = 1;     % \u6bd4\u4f8b\u589e\u76ca  \nKi = 0.1;  % \u79ef\u5206\u589e\u76ca  \nKd = 0.01; % \u5fae\u5206\u589e\u76ca  \nTs = 1;    % \u91c7\u6837\u65f6\u95f4\n\n% \u53d8\u91cf\u8bbe\u7f6e  \n\u6c34\u4f4d\u8bbe\u5b9a\u503c = 20; % \u8bbe\u5b9a\u6c34\u4f4d  \n\u6c34\u4f4d\u6d4b\u91cf\u503c = 0; % \u5b9e\u9645\u6c34\u4f4d\uff08\u5047\u8bbe\u5df2\u7ecf\u6d4b\u91cf\uff09  \n\u6ee4\u6c60\u5bb9\u91cf = 100; % \u6ee4\u6c60\u5bb9\u91cf\uff08\u5047\u8bbe\u5df2\u77e5\uff09\n\n% \u521d\u59cb\u5316  \nSP = \u6c34\u4f4d\u8bbe\u5b9a\u503c\uff1b  \nPV = \u6c34\u4f4d\u6d4b\u91cf\u503c\uff1b  \nI = 0;\n\n% \u63a7\u5236\u903b\u8f91  \nwhile true  \n   % \u8ba1\u7b97\u504f\u5dee  \n   e = SP - PV;  \n     \n   % \u8ba1\u7b97\u6bd4\u4f8b\u3001\u79ef\u5206\u3001\u5fae\u5206\u8f93\u51fa  \n   P = Kp * e;  \n   I = I + Ki * e;  \n   D = Kd * (e - 2 * PV + PV_prev);  \n     \n   % \u66f4\u65b0\u8f93\u51fa  \n   \u8f93\u51fa = P + I + D;  \n     \n   % \u6267\u884c\u63a7\u5236  \n   \u63a7\u5236\u9600\u5f00\u5ea6 = \u8f93\u51fa\uff1b  \n     \n   % \u91c7\u6837  \n   t = Ts;  \n     \n   % \u66f4\u65b0 PV  \n   PV = \u6c34\u4f4d\u6d4b\u91cf\u503c\uff1b  \n     \n   % \u68c0\u67e5\u6c34\u4f4d\u662f\u5426\u8fbe\u5230\u8bbe\u5b9a\u503c  \n   if abs(SP - PV) &lt; 1e-3  \n       % \u8fbe\u5230\u8bbe\u5b9a\u503c\uff0c\u7ed3\u675f\u63a7\u5236  \n       break;  \n   end  \nend\n\n% \u7ed8\u5236\u7ed3\u679c  \nfigure;  \nplot(t, PV);  \nxlabel('\u65f6\u95f4');  \nylabel('\u6c34\u4f4d');  \ntitle('\u6ee4\u6c60\u6052\u6c34\u4f4d\u63a7\u5236\u7ed3\u679c');  \n<\/code><\/pre>\n\n\n\n<p>\u4ee5\u4e0a\u4e3amatlab\u7684\u4ee3\u7801\u63a7\u5236\u903b\u8f91\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u7cfb\u7edf\u6982\u8ff0\uff1a\u672c\u65b9\u6848\u91c7\u7528\u57fa\u4e8e PID \u63a7\u5236\u7b97\u6cd5\u7684\u6c34\u4f4d\u63a7\u5236\u7cfb\u7edf\uff0c\u901a\u8fc7\u5bf9\u6c34\u4f4d\u8bbe\u5b9a\u503c\u4e0e\u5b9e\u9645\u6d4b\u91cf\u503c\u7684\u8c03\u8282\uff0c\u5b9e\u73b0\u5feb\u6ee4\u6c60\u6052\u6c34\u4f4d [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":820,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":[],"categories":[30],"tags":[43,18],"_links":{"self":[{"href":"http:\/\/www.zhihuiwater.com\/index.php?rest_route=\/wp\/v2\/posts\/915"}],"collection":[{"href":"http:\/\/www.zhihuiwater.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/www.zhihuiwater.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/www.zhihuiwater.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/www.zhihuiwater.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=915"}],"version-history":[{"count":1,"href":"http:\/\/www.zhihuiwater.com\/index.php?rest_route=\/wp\/v2\/posts\/915\/revisions"}],"predecessor-version":[{"id":917,"href":"http:\/\/www.zhihuiwater.com\/index.php?rest_route=\/wp\/v2\/posts\/915\/revisions\/917"}],"wp:featuredmedia":[{"embeddable":true,"href":"http:\/\/www.zhihuiwater.com\/index.php?rest_route=\/wp\/v2\/media\/820"}],"wp:attachment":[{"href":"http:\/\/www.zhihuiwater.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=915"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/www.zhihuiwater.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=915"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/www.zhihuiwater.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=915"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}