Python 实现控制一阶惯性系统

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1.PID.py

#  PID控制一阶惯性系统测试程序#*****************************************************************##                      增量式PID系统                              ##*****************************************************************#class IncrementalPID:    def __init__(self, P, I, D):        self.Kp = P        self.Ki = I        self.Kd = D        self.PIDOutput = 0.0             #PID控制器输出        self.SystemOutput = 0.0          #系统输出值        self.LastSystemOutput = 0.0      #上次系统输出值        self.Error = 0.0                 #输出值与输入值的偏差        self.LastError = 0.0        self.LastLastError = 0.0    #设置PID控制器参数    def SetStepSignal(self,StepSignal):        self.Error = StepSignal - self.SystemOutput        IncrementValue = self.Kp * (self.Error - self.LastError) + self.Ki * self.Error + self.Kd * (self.Error - 2 * self.LastError + self.LastLastError)        self.PIDOutput += IncrementValue        self.LastLastError = self.LastError        self.LastError = self.Error    #设置一阶惯性环节系统  其中InertiaTime为惯性时间常数    def SetInertiaTime(self,InertiaTime,SampleTime):        self.SystemOutput = (InertiaTime * self.LastSystemOutput + SampleTime * self.PIDOutput) / (SampleTime + InertiaTime)        self.LastSystemOutput = self.SystemOutput# *****************************************************************##                      位置式PID系统                              ## *****************************************************************#class PositionalPID:    def __init__(self, P, I, D):        self.Kp = P        self.Ki = I        self.Kd = D        self.SystemOutput = 0.0        self.ResultValueBack = 0.0        self.PidOutput = 0.0        self.PIDErrADD = 0.0        self.ErrBack = 0.0    def SetInertiaTime(self, InertiaTime,SampleTime):       self.SystemOutput = (InertiaTime * self.ResultValueBack + SampleTime * self.PidOutput) / (SampleTime + InertiaTime)       self.ResultValueBack = self.SystemOutput    def SetStepSignal(self,StepSignal):        Err = StepSignal - self.SystemOutput        KpWork = self.Kp * Err        KiWork = self.Ki * self.PIDErrADD        KdWork = self.Kd * (Err - self.ErrBack)        self.PidOutput = KpWork + KiWork + KdWork        self.PIDErrADD += Err        self.ErrBack = Err

2.TestPID.py

import PIDimport matplotlib.pyplot as pltplt.figure(1) # 创建图表1plt.figure(2) # 创建图表2#测试PID程序def TestPID(P, I, D):    IncrementalPid = PID.IncrementalPID(P, I, D)    PositionalPid = PID.PositionalPID(P, I, D)    IncrementalXaxis = [0]    IncrementalYaxis = [0]    PositionalXaxis = [0]    PositionalYaxis = [0]    for i in range(1, 500):        #增量式        IncrementalPid.SetStepSignal(100.2)        IncrementalPid.SetInertiaTime(3,0.1)        IncrementalYaxis.append(IncrementalPid.SystemOutput)        IncrementalXaxis.append(i)        #位置式        PositionalPid.SetStepSignal(100.2)        PositionalPid.SetInertiaTime(3,0.1)        PositionalYaxis.append(PositionalPid.SystemOutput)        PositionalXaxis.append(i)    plt.figure(1)      # 选择图表1    plt.plot(IncrementalXaxis, IncrementalYaxis,'r')    plt.xlim(0,120)    plt.ylim(0,140)    plt.title("IncrementalPID")    plt.figure(2)     # 选择图表2    plt.plot(PositionalXaxis, PositionalYaxis, 'b')    plt.xlim(0,120)    plt.ylim(0,140)    plt.title("PositionalPID")    plt.show()if __name__ == "__main__":    TestPID(4.5,0.5,0.1)

3.实现效果

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