ECE-320 Lab 6: Discrete-Time PID and PI Controllers and sisotool
Overview
In this lab you will be controlling both of the one degree of freedom systems you previously modeled
using discrete-time PID and PI controllers. Both one degree of freedom systems m
ECE-320 Lab67: Discrete-Time PID and PI Controllers and sisotool
Overview
In this lab you will be controlling both of the one degree of freedom systems you previously modeled
using discrete-time PID and PI controllers. Both one degree of freedom systems m
Model cfw_
Name "DT_PID"
Version 5.1
SaveDefaultBlockParams on
SampleTimeColors off
LibraryLinkDisplay "none"
WideLines on
ShowLineDimensions on
ShowPortDataTypes off
ShowLoopsOnError on
IgnoreBidirectionalLines off
ShowStorageClass of
%
% Matlab driver for the basic 1-dof state variable model
% This version is for the PID controller
%
% set up the matrices for constructing the states
% this is for the ECP Simulink program
%
get_positions = [1 0 0 0 0;
0 1 0 0 0;
0 0 1 0 0];
get_a
%
% this file compares the model results with the real results
%
figure
cale = 180/pi;
scale = 1.0;
[m_ts,m_ys]= stairs(m_time,m_y*scale);
[ts,ys] = stairs(time,y*scale);
hold on
plot(m_ts,m_ys,'-','Linewidth',1);
plot(ts,ys,'-','Linewidth',
%
% closed loop driver- simulate the closed loop system
%
% this sets the value of the limiter
%
saturation_level = 1000/2196; % for the model 210
% saturation_level = 1000/2546; % for the model 205 (torsional)
%
% now load the plant model
% the model is
ECE-320 Lab 6: Discrete-Time PID and PI Controllers and sisotool
Overview
In this lab you will be controlling both of the one degree of freedom systems you previously modeled
using discrete-time PID and PI controllers. Both one degree of freedom systems m
