pid控制器matlab仿真(5)

2、分析比例控制作用，设Td 0.35、Ti 1.4、Kp= 0.1*30 ~ 1*30.输人信号阶跃函数，分别进行仿真，如图3 所展示的系统的阶跃响应曲线

t=0:0.01:25; num=1;

den=conv([1 1 0],[1 5]); G0=tf(num,den);

k0=30; p0=2.8; a1=0.1:0.4:1; k1=a1*k0; ti=0.5*p0; td=0.125*p0; s=tf('s');

Gc=k1*(1+1/ti/s+td*s); G=G0.*Gc;

step(feedback(G(1),1),t) hold on

step(feedback(G(2),1),t) hold on

step(feedback(G(3),1),t) axis([0 16 0 1.9]) hold off

legend('Kp=3','Kp=15','Kp=27') text(6.5,1.4,'Kp=3' ) text(4,0.65,'Kp=15' ) text(4.1,1.1,'Kp=27' )