工具箱怎样绑定pid

① matlab仿真求调整PID参数

直接使用CFTOOL工具箱
命令行输入cftool即可，然后选择拟合类型
x=[6.69:0.02:7.53];
y=[4.2,3.7,3.3,2.95,2.63,2.33,2.11,1.87,1.65,1.47,1.32,1.17,1.04,0.925,0.82,0.735,0.653,0.582,0.52,0.462,0.412,0.366,0.325,0.289,0.258,0.23,0.205,0.182,0.162,0.145,0.129,0.115,0.102,0.091,0.081,0.072,0.064,0.057,0.051,0.0455,0.0403,0.036,0.032];
直接输入cftool进入曲线拟合工具箱界面“Curve Fitting tool”
(1）点击“Data”按钮，弹出“Data”窗口；
（2）利用X data和Y data的下拉菜单读入数据x,y，然后点击“Create data set”按钮，退出“Data”窗口，返回工具箱界面，这时会自动画出数据集的曲线图；
（3）点击“Fitting”按钮，弹出“Fitting”窗口；
（4）点击“New fit”按钮，可修改拟合项目名称“Fit name”，通过“Data set”下拉菜单选择数据集，然后通过下拉菜单“Type of fit”选择拟合曲线的类型，选择类型Power：幂逼近，有2种类型，a*x^b 、a*x^b + c

② 濡備綍鐢╩atlab瀹炵幇涓嬪垪妯″瀷鐨刾id鎺у埗锛

瑕佸湪MATLAB涓瀹炵幇璇ユā鍨嬬殑PID鎺у埗锛岄栧厛闇瑕佹牴鎹鎵缁欑殑琚鎺у硅薄妯″瀷寤虹珛涓涓绂绘暎鏃堕棿妯″瀷锛岀劧鍚庣敤PID鎺у埗鍣ㄨ繘琛屾帶鍒躲備互涓嬫槸涓涓绠鍗曠殑瀹炵幇锛

• 棣栧厛锛屽畾涔夋ā鍨嬪弬鏁板拰PID鎺у埗鍣ㄥ弬鏁帮細

% 妯″瀷鍙傛暟

T = 0.1; % 閲囨牱鏃堕棿锛堢掞級

N = 100; % 浠跨湡姝ユ暟

% PID鎺у埗鍣ㄥ弬鏁

Kp = 1; % 姣斾緥澧炵泭

Ki = 1; % 绉鍒嗗炵泭

Kd = 1; % 寰鍒嗗炵泭

• 鍒濆嬪寲妯″瀷鍙橀噺鍜屾帶鍒跺櫒鍙橀噺锛

% 鍒濆嬪寲鍙橀噺

y = zeros(1, N);

u = zeros(1, N);

a = zeros(1, N);

e = zeros(1, N);

ie = zeros(1, N);

de = zeros(1, N);

% 璁惧畾鐩鏍囪緭鍑

target = 1;

• 浣跨敤寰鐜瀹炵幇绂绘暎鏃堕棿妯″瀷鍜孭ID鎺у埗鍣锛

for k = 2:N

% 璁＄畻a(k)

a(k) = 1.2 * (1 - 0.8 * exp(-0.1 * k));

% 妯″瀷鏂圭▼

y(k) = a(k) * y(k - 1) / (1 + y(k - 1)^2) + u(k - 1);

% 璁＄畻璇宸

e(k) = target - y(k);

% 绉鍒嗚宸

ie(k) = ie(k - 1) + e(k) * T;

% 寰鍒嗚宸

de(k) = (e(k) - e(k - 1)) / T;

% PID鎺у埗鍣

u(k) = Kp * e(k) + Ki * ie(k) + Kd * de(k);

end

• 鐢诲嚭杈撳嚭鏇茬嚎鍜屾帶鍒惰緭鍏ユ洸绾匡細

figure;

subplot(2, 1, 1);

plot(1:N, y, 'LineWidth', 1.5);

xlabel('Time step (k)');

ylabel('Output (y)');

title('System Output');

subplot(2, 1, 2);

plot(1:N, u, 'LineWidth', 1.5);

xlabel('Time step (k)');

ylabel('Control Input (u)');

title('Control Input');

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③ labview2010 pid工具包如何激活求高手指教，有注册机PID.and.Fuzzy.Logic.Toolkit-TBE-keygen的最好

在注册机中找到对应的工具包，右键点击，然后activate，见下图