pid控制器matlab仿真(7)

Step Response

43.5

32.52

Amplitude

1.510.50-0.5-10

12345Time (sec)

678910

系统的超调量会随着Ti值的加大而减小，系统响应速度随着Ti值的加大会略微变慢。

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

den=conv([1 1 0],[1 5]); G0=tf(num,den); k0=30; p0=2.8;

a1=linspace(0.2,1,3); k1=0.6*k0; ti=a1*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 10 -1 4]) hold off

legend('Ti=0.56','Ti=1.68','Ti=2.8') gtext('Ti=0.56' )