步进电机pid的matlab模型20个程序

步进电机pid的matlab模型20个程序可以调参数用

%chap4_7f1.m
function [u]=chap4_7f1（u1u2u3）
global s
persistent errori error_1

ts=0.001;
if u3==0
   errori=0;
   error_1=0;
end   

s=3             %Selecting Signal Type
if s==1         %Step Signal
   kp=0.4;
   ki=0.0;
   kd=0.28;
elseif s==2     %Sine Signal
   kp=40;
   ki=0.0;
   kd=0.28;
elseif s==3     %Square Wave Signal
   kp=0;
   ki=0.0;
   kd=0.28;
end
error=u2;
errord=（error-error_1）/ts;
errori=errori+error*ts;

u=kp*error+kd*errord+ki*errori;
error_1=error;

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----

     文件      10020  2002-10-04 09:37  PID-matlab\CHAPTER1\CHAPTER1\CHAP1_1.MDL

     文件        623  2002-10-20 21:47  PID-matlab\CHAPTER1\CHAPTER1\CHAP1_10.M

     文件       1684  2002-12-11 10:30  PID-matlab\CHAPTER1\CHAPTER1\CHAP1_11.M

     文件       1311  2002-12-11 10:30  PID-matlab\CHAPTER1\CHAPTER1\CHAP1_12.M

     文件       1188  2002-12-11 10:31  PID-matlab\CHAPTER1\CHAPTER1\CHAP1_13.M

     文件       1499  2002-12-11 10:32  PID-matlab\CHAPTER1\CHAPTER1\CHAP1_14.M

     文件       1058  2002-12-11 10:33  PID-matlab\CHAPTER1\CHAPTER1\CHAP1_15.M

     文件       1332  2002-12-11 10:33  PID-matlab\CHAPTER1\CHAPTER1\CHAP1_16.M

     文件        663  2002-10-20 19:27  PID-matlab\CHAPTER1\CHAPTER1\CHAP1_2.M

     文件        132  2002-10-09 21:27  PID-matlab\CHAPTER1\CHAPTER1\CHAP1_2F.M

     文件       8014  2002-10-09 21:30  PID-matlab\CHAPTER1\CHAPTER1\CHAP1_3.MDL

     文件        266  2002-10-09 21:30  PID-matlab\CHAPTER1\CHAPTER1\CHAP1_3F.M

     文件       1210  2002-12-11 10:26  PID-matlab\CHAPTER1\CHAPTER1\CHAP1_4.M

     文件       1418  2002-12-11 10:25  PID-matlab\CHAPTER1\CHAPTER1\CHAP1_5.M

     文件        897  2002-10-20 20:51  PID-matlab\CHAPTER1\CHAPTER1\CHAP1_6.M

     文件       1242  2002-12-11 10:27  PID-matlab\CHAPTER1\CHAPTER1\CHAP1_7.M

     文件       1441  2002-12-11 10:27  PID-matlab\CHAPTER1\CHAPTER1\CHAP1_8.M

     文件       1192  2002-12-11 10:28  PID-matlab\CHAPTER1\CHAPTER1\CHAP1_9.M

     文件        913  2002-10-20 14:58  PID-matlab\CHAPTER10\CHAPTER10\CHAP10_1.M

     文件        908  2002-10-20 15:18  PID-matlab\CHAPTER10\CHAPTER10\CHAP10_2.CPP

     文件       9303  2002-10-20 15:54  PID-matlab\CHAPTER10\CHAPTER10\CHAP10_3.CPP

     文件       1192  2002-10-06 17:29  PID-matlab\CHAPTER10\CHAPTER10\CHAP10_3.H

     文件       1175  2002-10-18 15:21  PID-matlab\CHAPTER2\CHAPTER2\CHAP2_1.M

     文件       1143  2002-12-11 10:35  PID-matlab\CHAPTER2\CHAPTER2\CHAP2_2.M

     文件      11061  2002-12-11 10:39  PID-matlab\CHAPTER2\CHAPTER2\CHAP2_3.MDL

     文件       1577  2002-12-11 10:40  PID-matlab\CHAPTER2\CHAPTER2\CHAP2_4.M

     文件       2195  2002-10-18 09:49  PID-matlab\CHAPTER3\CHAPTER3\CHAP3_1.M

     文件       5260  2002-10-18 10:10  PID-matlab\CHAPTER3\CHAPTER3\CHAP3_2.M

     文件       2085  2002-10-18 10:58  PID-matlab\CHAPTER3\CHAPTER3\CHAP3_3.M

     文件       2282  2004-09-07 15:02  PID-matlab\CHAPTER3\CHAPTER3\fuzzpid.fis

............此处省略77个文件信息