How to give input from sensor to pid in matlab (mfile)

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Beenish Mazhar
Beenish Mazhar 2012-10-21
I am trying to implement the system in matlab(mfile)which I have uploaded at:
http://tinypic.com/view.php?pic=2w33slt&s=6.
My system has two portions Image processing(sensor) & control systems. The piece of code is:
clear,close
%your model and its input output
mot=tf(1,[1 1]),
model=ss(mot);
[F,h,c,d]=ssdata(model);
%your pid controller
r=pid(5,1/0.05,10)
sys.inputname='u'
sys.outputname='y'
Ci.inputname='e';
Ci.outputname='u';
som1 = sumblk('e = r - y');
%global model with all conneection
modelg=connect(som1,r,model,'r','y')
%simulation
step(modelg)
Above code is the model representing the PID then statespace and then its output as feedback but I have to give input from my sensor(image processing part e.g 3) and compare it with my reference value. I need to know where that input value will be adjusted in this code. Any guidance would be highly appreciated.

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回答（1 个）

Arkadiy Turevskiy
Arkadiy Turevskiy 2012-10-23
编辑：Arkadiy Turevskiy 2012-10-23
Your code does not make sense at the moment. Specific issues:
  1. You define input and output names for variables sys and Ci, as if they are meant to represent a plant and the controller, but your plant is stored in variable mot, and your controller is in variable r
  2. You use function connect in the wrong way - please see documentation on the input arguments and their right order
The correct code would be:
clear,close
%your model and its input output
mot=tf(1,[1 1]);
mot.inputname='u';
mot.outputname='y';
%your pid controller
r=pid(5,1/0.05,10);
r.inputname='e';
r.outputname='u';
% summation junction
som1 = sumblk('e = r - y');
%global model with all conneection
modelg=connect(mot,r,som1,'r','y');
%simulation
step(modelg);
% another way to do the same
step(feedback(r*mot,1));
Arkadiy
  1 个评论
Beenish Mazhar
Beenish Mazhar 2012-11-5
It was a certain typing mistake. My code is: clear,close
%your model and its input output
mot=tf(1,[1 1]),
Ci=pid(5,1/0.05,10)
[ne,de]=tfdata(mot,'v');
[A,B,C,D]=tf2ss(ne,de);
inputs = {'u'};
output = {'y'};
sys = ss(A,B,C,D,'inputname',inputs,'outputname',output);
sys.inputname='u';
sys.outputname='y';
Ci.inputname='e';
Ci.outputname='u';
%adding a reference r with som2=r-y
som1 = sumblk('e','r','y','+-');
%global model with all connection
modelg=connect(sys,Ci,som1,'r','y')
I have to add the value taken from sensor as mentioned above. How to adjust that in the above code.

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