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1、前馈PID补偿控制%PID Feedforward Con troler clear all;close all;ts=O.OO1;sys=tf(133,1,25,0); dsys=c2d(sys,ts,z);nu m,de n=tfdata(dsys,v);u_1=0;u_2=0;y_1=0;y_2=0;error_1=0;ei=0;for k=1:1:1000 time(k)=k*ts;A=0.5;F=3.0;rin (k)=A*si n(F*2*pi*k*ts);drin (k)=A*F*2*pi*cos(F*2*pi*k*ts);ddri n(k)=-A*F*2*pi*F*2*pi*s
2、i n(F*2*pi*k*ts);%Lin ear modelyout(k)=-de n( 2)*y_1-de n( 3)*y_2+num(2) *u_1+ num( 3)*u_2;error(k)=ri n(k)-yout(k);ei=ei+error(k)*ts;up(k)=80*error(k)+20*ei+2.0*(error(k)-error_1)/ts;uf(k)=25/133*dri n(k)+1/133*ddri n( k);M=2;if M=1%Only usi ng PIDu(k)=up(k);elseif M=2 %PID+Feedforward u(k)=up(k)+u
3、f(k);endif u(k)=10u(k)=10;endif u(k)=-10 u(k)=-10;endu_2=u_1;u_1=u(k);y_2=y_l;y_ l=yout(k)； error_1=error(k); endfigure(1);plot(time,ri n,r,time,yout,b); xlabel(time(s);ylabel(ri n, yout); figure(2);plot(time,error,r); xlabel(time(s);ylabel(error); figure);plot(time,up,k,time,uf,b,time,u,r); xlabel(time(s);ylabel(up,uf,u);