增量式PID的MATLAB实现.rar

function varargout = single_loop(varargin) % SINGLE_LOOP MATLAB code for single_loop.fig % SINGLE_LOOP, by itself, creates a new SINGLE_LOOP or raises the existing % singleton*. % % H = SINGLE_LOOP returns the handle to a new SINGLE_LOOP or the handle to % the existing singleton*. % % SINGLE_LOOP('CALLBACK',hObject,eventData,handles,...) calls the local % function named CALLBACK in SINGLE_LOOP.M with the given input arguments. % % SINGLE_LOOP('Property','Value',...) creates a new SINGLE_LOOP or raises the % existing singleton*. Starting from the left, property value pairs are % applied to the GUI before single_loop_OpeningFcn gets called. An % unrecognized property name or invalid value makes property application % stop. All inputs are passed to single_loop_OpeningFcn via varargin. % % *See GUI Options on GUIDE's Tools menu. Choose "GUI allows only one % instance to run (singleton)". % % See also: GUIDE, GUIDATA, GUIHANDLES % Edit the above text to modify the response to help single_loop % Last Modified by GUIDE v2.5 29-May-2019 19:23:30 % Begin initialization code - DO NOT EDIT gui_Singleton = 1; gui_State = struct('gui_Name', mfilename, ... 'gui_Singleton', gui_Singleton, ... 'gui_OpeningFcn', @single_loop_OpeningFcn, ... 'gui_OutputFcn', @single_loop_OutputFcn, ... 'gui_LayoutFcn', [] , ... 'gui_Callback', []); if nargin && ischar(varargin{1}) gui_State.gui_Callback = str2func(varargin{1}); end if nargout [varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:}); else gui_mainfcn(gui_State, varargin{:}); end % End initialization code - DO NOT EDIT % --- Executes just before single_loop is made visible. function single_loop_OpeningFcn(hObject, eventdata, handles, varargin) % Choose default command line output for single_loop handles.output = hObject; % Update handles structure guidata(hObject, handles); % 定义一个结构体,用来存储计算过程中的变量 global data; % --- Outputs from this function are returned to the command line. function varargout = single_loop_OutputFcn(hObject, eventdata, handles) % varargout cell array for returning output args (see VARARGOUT); % Get default command line output from handles structure varargout{1} = handles.output; % --- Executes during object creation, after setting all properties. function figure1_CreateFcn(hObject, eventdata, handles) % --- Executes during object creation, after setting all properties. function numInput_CreateFcn(hObject, eventdata, handles) % Hint: edit controls usually have a white background on Windows. % See ISPC and COMPUTER. if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) set(hObject,'BackgroundColor','white'); end % --- Executes during object creation, after setting all properties. function denInput_CreateFcn(hObject, eventdata, handles) % Hint: edit controls usually have a white background on Windows. % See ISPC and COMPUTER. if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) set(hObject,'BackgroundColor','white'); end % --- Executes during object creation, after setting all properties. function edit15_CreateFcn(hObject, eventdata, handles) % Hint: edit controls usually have a white background on Windows. % See ISPC and COMPUTER. if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) set(hObject,'BackgroundColor','white'); end % --- Executes during object creation, after setting all properties. function kpInput_CreateFcn(hObject, eventdata, handles) % Hint: edit controls usually have a white background on Windows. % See ISPC and COMPUTER. if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) set(hObject,'BackgroundColor','white'); end % --- Executes during object creation, after setting all properties. function kdInput_CreateFcn(hObject, eventdata, handles) % Hint: edit controls usually have a white background on Windows. % See ISPC and COMPUTER. if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) set(hObject,'BackgroundColor','white'); end % --- Executes during object creation, after setting all properties. function kiInput_CreateFcn(hObject, eventdata, handles) % Hint: edit controls usually have a white background on Windows. % See ISPC and COMPUTER. if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) set(hObject,'BackgroundColor','white'); end % --- Executes during object creation, after setting all properties. function rInput_CreateFcn(hObject, eventdata, handles) % Hint: edit controls usually have a white background on Windows. % See ISPC and COMPUTER. if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) set(hObject,'BackgroundColor','white'); end % --- Executes on button press in pushbutton2. function pushbutton2_Callback(hObject, eventdata, handles) try delete(allchild(handles.axes)); end set(handles.axes, 'XLim', [0 1]); function increaseR_Callback(hObject, eventdata, handles) r = str2double(get(handles.rInput,'String')); r = r + 50; set(handles.rInput, 'String', num2str(r)); setR_Callback(handles.rInput, eventdata, handles); function decreaseR_Callback(hObject, eventdata, handles) r = str2double(get(handles.rInput,'String')); r = r - 50; set(handles.rInput, 'String', num2str(r)); setR_Callback(handles.rInput, eventdata, handles); function setR_Callback(hObject, eventdata, handles) global data r = str2num(get(handles.rInput,'String')); data.r = r; guidata(hObject, handles); % --- Executes during object creation, after setting all properties. function delayInput_CreateFcn(hObject, eventdata, handles) % Hint: edit controls usually have a white background on Windows. % See ISPC and COMPUTER. if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) set(hObject,'BackgroundColor','white'); end % --- Executes on button press in pushbutton6. function pushbutton6_Callback(hObject, eventdata, handles) function startEmulation_Callback(hObject, eventdata, handles) global data % 读入pid控制参数 data.kp = str2num(get(handles.kpInput,'String')); data.kd = str2num(get(handles.kdInput,'String')); data.ki = str2num(get(handles.kiInput,'String')); % 读入给定值和采样时间 data.r = str2num(get(handles.rInput,'String')); data.ts = str2num(get(handles.tsInput,'String')); % 设置开始模拟 data.stop = false; % 更新结构体数据 guidata(hObject, handles); % 运行增量式pid算法 incremental_pid(hObject, eventdata, handles); % 增量式pid算法 function incremental_pid(hObject, eventdata, handles) global data curTime = 0; % 当前时间 u_k1 = 0; u_k = 0; % 输出,初始输出为0 r = data.r; % 初始化给定值 e_k = 0; e_k1 = 0; e_k2 = 0; % 偏差,初始偏差为给定值 while data.stop ~= true curTime = curTime + data.ts; % 计算当前时间 % 更改时间轴范围 curLim = get(handles.axes, 'XLim'); if (curTime > curLim(2)) set(handles.axes, 'XLim', [curTime-0.5, curTime+0.5]); end % 计算阀门开度 % delta1 = data.kp * (e_k - e_k1) % delta2 = data.ki * data.ts * e_k % delta3 = data.kd *(e_k - 2*e_k1 + e_k2) delta_u = data.kp * (e_k - e_k1) + data.ki * e_k + data.kd *(e_k - 2*e_k1 + e_k2); u_k = u_k1 + delta_u; % 绘图 plot([curTime-data.ts, curTime], [u_k1, u_k], 'r'); hold on; plot([curTime-data.ts, curTime], [r, data.r]); hold on; % 控制坐标轴范围 %XLim = get(handles.axes) %if XLim(2) > 10 % set(handles.axes, 'Xlim', [curTime-10, curTime]); %end % 更新各个量 r = data.r; % 更新给定值输入 u_k1 = u_k; e_k2 = e_k1; e_k1 = e_k; e_k = r - u_k; pause(0.1); end function stopEmulation_Callback(hObject, eventdata, handles) global data % 设�