Tuning PI, PD, PID controller

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Dragana Krstevska
Dragana Krstevska 2020-5-15
回答： Sam Chak 2022-9-7
Hi guys,
I'm using pidtune and pidtool for tuning the controllers, but even if I put all three constants (Kd, Ki, Kp) it tunes the controller as if it's a p controller. Will post the code bellow, also the return message as a pic. Please help <3.
Kp=290;
Ki=500;
Kd=46;
num1=[Kd Kp Ki];
den1=[1 0];
W=tf(num1,den1);
num2=[1];
den2=[1 10 20];
G=tf(num2,den2);
A=series(W,G);
sys=feedback(A,1);
t=0:0.01:2;
y=step(sys,t);
plot(t,y);
grid on;
pidtune(G,'pi')
pidtool(G,'pid');

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回答（1 个）

Sam Chak
Sam Chak 2022-9-7
Ran in:
Not sure what happened. But it works for both auto and manual tuning.
% Plant
Gp = tf(1, [1 10 20])
Gp = 1 --------------- s^2 + 10 s + 20 Continuous-time transfer function.
% PID (Auto)
Gc1 = pidtune(Gp, 'PID')
Gc1 = 1 Kp + Ki * --- + Kd * s s with Kp = 39.3, Ki = 116, Kd = 3.33 Continuous-time PID controller in parallel form.
Gcl1 = feedback(Gc1*Gp, 1);
% PIDF (Manual)
kp = 32.94;
ki = 86.88;
kd = 0.3632;
Tf = 0.1208;
Gc = pid(kp, ki, kd, Tf)
Gc = 1 s Kp + Ki * --- + Kd * -------- s Tf*s+1 with Kp = 32.9, Ki = 86.9, Kd = 0.363, Tf = 0.121 Continuous-time PIDF controller in parallel form.
Gcl2= feedback(Gc*Gp, 1);
% Step responses
step(Gcl1, 2), hold on
step(Gcl2, 2), grid on
legend('PID', 'PIDF')

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