比如,仿真一个简单倒立摆系统,可以使用如下代码: importnumpy as npimportmatplotlib.pyplot as plt# Constantsg=9.81#Acceleration due to gravity (m/s^2)m=1.0# Mass of the pendulum (kg)l=1.0# Length of the pendulum (m)c=0.1# Damping coefficient# PID parameterskp=100.0ki=0.0kd=0.0# Initial con...
%GA(Generic Algorithm) Program to optimize PID Parameters close all; clear; clc; global rin yout timef Size=50; % 种群大小30个 可行解 CodeL=3; % 三个实数编码 三个决策变量 MinX(1)=zeros(1); MaxX(1)=20*ones(1); MinX(2)=zeros(1); MaxX(2)=1.0*ones(1); MinX(3)=zeros(1); ...
关键字:粒子群算法;PID控制器;克隆选择;参数优化 Application of an improved PSO algorithm in PID parameters optimization Shao hui-feng (Oxygen Factry,Tonggang Iron&Stell Inc.Tonghua134004,Jilin,P.R.China) Abstract:PID control is the most common control method used in process control, and the core...
e(k)=r(k)-y(k); %%%%%%%%%%%%%%Return of PID parameters%%%%%%%%%%%%%%% u_3=u_2; u_2=u_1; u_1=u(k); y_3=y_2; y_2=y_1; y_1=y(k); x(1)=e(k); % Calculating P x(2)=e(k)-e_1; % Calculating D x(3)=x(3)+e(k)*ts; % Calculating I ec_1=x(...
As shown in the equations below, Kp, Kc are gain parameters; Ti and Td are integral and derivative time respectively. where: Proportional term or Gain The proportional term make changes to the output that is proportional to the current error value. The proportional gain may also be expressed...
PID controller parameters UN-2 For services $01 and $02, message length is determined by parameter identification (PID). EurLex-2 - that the module ID's and the PID's or parameter names associated with all the items mentioned above can also be displayed either (a) simultaneously with...
Upload PID parameters to project(上载参数到项目):将已整定好的PID参数从CPU上载到项目。 4. 当前值显示 用户在此区域可监视给定,反馈,输出值,并可手动强制输出值,点击Manual前的方框,用户就可在Output栏内入百分比形式的输出值 趋势显示面板 趋势显示面板使用说明图...
PID_PARAMETERSparam; PID_DATAdata; }PID_CONTROLLER;/*--- DefaultinitalisationvaluesforthePIDobjects ---*/#definePID_TERM_DEFAULTS{0, 0, 0, 0,0 }#definePID_PARAM_DEFAULTS{ _IQ(1.0), _IQ(1.0), _IQ(0.0), _IQ(0.0), _IQ(1.0), _IQ(1.0...
To get the PID parameters for our controller, we need to use these values with the Ziegler-Nichols table: P = 0.60 x Kc => P = 0.6 x 20 => P = 12 Ti = 0.5 x Pc => Ti = 0.5 x 15 => Ti = 7.5 Td = Pc / 8 => Td = 15 / 8 => Td = 1.87 ...
/*计算PID参数值*/staticvoidCalculationParameters(CLASSICPID*vPID,TuneObjectType*tune){floatkc=0.0;floattc=0.0;floatzn[3][3]={{0.5,100000.0,0.0},{0.45,0.8,0.0},{0.6,0.5,0.125}};tc=(tune->endTime-tune->startTime)*tune->tunePeriod/1000.0;kc=(8.0*tune->outputStep)/(PI*(tune->maxPV-...