pid控制器matlab仿真(17)

tSpan=[0 ts]; J=0.0067;B=0.1;

PlantModel =@(t,xk,para)([ xk(2); -(B/J)*xk(2) + (1/J)*u_1]) ; [tt,xx]=ode45(PlantModel,tSpan,xk, [],para); xk = xx(length(xx),:); yout(k)=xk(1);

e(k)=rin(k)-yout(k); de(k)=(e(k)-e_1)/ts;

u(k)=20.0*e(k)+0.50*de(k);%Control limit if u(k)>10.0 u(k)=10.0; end

if u(k)<-10.0 u(k)=-10.0; end u_1=u(k);

% A/D