計算機控制專題實驗資料

專題實驗2013.6.14一樓聯(lián)系電話：LD-9188PbKw)MatlabGIMatlabGUI1）×××2顯示溫0~100C，3顯示4顯示5D并67止保存結(jié)束等按鈕功寫樣濾波PID等相關(guān)序。PID穩(wěn)觀察分析PID規(guī)律保存最佳。1PCI6~87 2121。1 168/AIn—―AnalogInputChanneln(single-ended)AIHn—―AnalogHighInputChanneln(differential)AILn—―AnalogLowInputChanneln(differential)ExtRefn—―ExternalReferenceVoltageforD/ACHnAOn—―AnalogOutputChannelnExtCLK—―ExternalClockInputExtTriExternalTriggerSignalClockinputfor8254etrTnltfrneA.GND——AnalogGroundGND——GroundA/D的0號通道和數(shù)模轉(zhuǎn)換通道選用D/A的0號通道。圖2數(shù)據(jù)采集卡與端子板聯(lián)接圖系統(tǒng)中數(shù)據(jù)采集卡PCI-9112與端子板PCLD-9188連接示意圖如圖2所示：CN3為PCI-9112的模擬量通道連接端口，CN1和CN2為數(shù)字量通道連接端口，實驗中只連接模擬量通道CN3。軟件包中含PCI-9112的驅(qū)動程序。2．ADLINK軟件包說明：ADLINK軟件包包含了數(shù)據(jù)采集卡的軟硬件驅(qū)動程序和用戶手冊首先閱讀SoftwareInstallationGuide手冊，掌握數(shù)據(jù)采集卡的設(shè)備驅(qū)動與軟件驅(qū)動的安裝。開始設(shè)計時可以通過用戶手冊NuDAQ/NuIPC9112 Series掌握數(shù)據(jù)采集卡PCI9112及編程的有用信息，但其后面的例程主要針對C語言，編程可參閱ADLINK軟件包中的PCI-DASK的用戶手冊。通過NuDAQ ACLD SeriesTerminationBoardsUser’sManual端子板用戶手冊，查看ACLD-9188的資料。MatlabADLINKDAQ-MTLB應(yīng)有軟DAQ-MTLBManualMatlab對數(shù)據(jù)采卡進DAQ-MTLB->Utilities->PCIConfigureUtility對數(shù)據(jù)采集卡進行設(shè)置。:、偏差現(xiàn)溫度箱。軟安裝方法需要安裝MatlabADLINK。應(yīng)MatlabGUI畫面過程P、I、D、樣周期、橫軸點靜態(tài)文本框；PID；、啟動/；PID法ku(k)

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e(k)]P T in0ke(k)e(k)e(k)PTTi d。。樣周期一周期限。樣過域產(chǎn)生混疊從而導(dǎo)致失真。樣過，樣點過很大。字讀寫添備：ai_device=analoginput('mwadlink',0);為備添：addchannel(ai_device,0);addchannel(ao_device,0);采樣數(shù)據(jù)：getsample(ai_device);輸出數(shù)據(jù)：putdata(ao_device,C(i)/20);PID參數(shù)的整定規(guī)律與結(jié)果分析比例：增加比例系數(shù)，加快系統(tǒng)響應(yīng)，減小穩(wěn)態(tài)誤差。但比例帶太小會使系統(tǒng)有較大的超調(diào)和振蕩，破壞系統(tǒng)的穩(wěn)定性。積分：主要用于減小系統(tǒng)的穩(wěn)態(tài)誤差。減小積分系數(shù)有利于減小超調(diào)，提高系統(tǒng)的穩(wěn)定性。但消除穩(wěn)態(tài)誤差的速度將隨之減慢。微分：增大微分系數(shù)可以加速系統(tǒng)的響應(yīng)，使超調(diào)量減小，增加系統(tǒng)的穩(wěn)定性，但系統(tǒng)的抗干擾能力下降。整定的次序通常為：先比例，再積分，后微分。整定比例系數(shù):置將由小變大，使系統(tǒng)曲線略有超調(diào)。如果此時系統(tǒng)的穩(wěn)態(tài)誤差已落入誤差帶范圍內(nèi)，則系統(tǒng)只使用比例控制就可以了。整定積分系數(shù)：在比例控制的基礎(chǔ)上，若系統(tǒng)還有較大的穩(wěn)態(tài)誤差，則需要加入積分控制。首先將調(diào)好的比例系數(shù)減小%到%，再講積分系數(shù)由小到大調(diào)節(jié)，直到穩(wěn)態(tài)誤差落入誤差帶之內(nèi)為止。、值，反復(fù)調(diào)試，直至滿足各個性能制表的要求為止保存的時實控制畫面（調(diào)節(jié)參數(shù)過程）（1）（2）（3）、程序functionvarargout=aaa(varargin)gui_Singleton=1;gui_State=struct('gui_Name', mfilename,...'gui_Singleton', gui_Singleton,...'gui_OpeningFcn',@aaa_OpeningFcn,...'gui_OutputFcn', @aaa_OutputFcn,...'gui_LayoutFcn', [],...'gui_Callback', ifnargin&isstr(varargin{1})gui_State.gui_Callback=str2func(varargin{1});endifnargout[varargout{1:nargout}]=gui_mainfcn(gui_State,varargin{:});elseend

gui_mainfcn(gui_State,varargin{:});functionaaa_OpeningFcn(hObject,eventdata,handles,varargin)handles.output=hObject;guidata(hObject,handles);functionvarargout=aaa_OutputFcn(hObject,eventdata,handles)%設(shè)置控件回調(diào)函數(shù)globalsPIDflagcs=0;s=str2num('nan');P=str2num('nan');I=str2num('nan');D=str2num('nan');set(handles.pushbutton2,'String','啟動');functionedit1_Callback(hObject,eventdata,handles)%hObjecthandletoedit1(seeGCBO)%eventdatareserved-tobedefinedinafutureversionofMATLAB%handlesstructurewithhandlesanduserdata(seeGUIDATA)%Hints:get(hObject,'String')returnscontentsofedit1astext% str2double(get(hObject,'String'))returnscontentsofedit1asadouble%---Executesduringobjectcreation,aftersettingallproperties.functionedit1_CreateFcn(hObject,eventdata,handles)%hObjecthandletoedit1(seeGCBO)%eventdatareserved-tobedefinedinafutureversionofMATLAB%handlesempty-handlesnotcreateduntilafterallCreateFcnscalled%Hint:editcontrolsusuallyhaveawhitebackgroundonWindows.% SeeISPCandCOMPUTER.if ispc && get(0,'defaultUicontrolBackgroundColor'))set(hObject,'BackgroundColor','white');endfunctionedit2_Callback(hObject,eventdata,handles)%hObjecthandletoedit2(seeGCBO)%eventdatareserved-tobedefinedinafutureversionofMATLAB%handlesstructurewithhandlesanduserdata(seeGUIDATA)%Hints:get(hObject,'String')returnscontentsofedit2astext% str2double(get(hObject,'String'))returnscontentsofedit2asdouble%---Executesduringobjectcreation,aftersettingallproperties.functionedit2_CreateFcn(hObject,eventdata,handles)%hObjecthandletoedit2(seeGCBO)%eventdatareserved-tobedefinedinafutureversionofMATLAB%handlesempty-handlesnotcreateduntilafterallCreateFcnscalled%Hint:editcontrolsusuallyhaveawhitebackgroundonWindows.% SeeISPCandCOMPUTER.if ispc && get(0,'defaultUicontrolBackgroundColor'))set(hObject,'BackgroundColor','white');endfunctionedit3_Callback(hObject,eventdata,handles)%hObjecthandletoedit3(seeGCBO)%eventdatareserved-tobedefinedinafutureversionofMATLAB%handlesstructurewithhandlesanduserdata(seeGUIDATA)%Hints:get(hObject,'String')returnscontentsofedit3astext% str2double(get(hObject,'String'))returnscontentsofedit3asdouble%---Executesduringobjectcreation,aftersettingallproperties.functionedit3_CreateFcn(hObject,eventdata,handles)%hObjecthandletoedit3(seeGCBO)%eventdatareserved-tobedefinedinafutureversionofMATLAB%handlesempty-handlesnotcreateduntilafterallCreateFcnscalled%Hint:editcontrolsusuallyhaveawhitebackgroundonWindows.% SeeISPCandCOMPUTER.if ispc && get(0,'defaultUicontrolBackgroundColor'))set(hObject,'BackgroundColor','white');endfunctionedit4_Callback(hObject,eventdata,handles)%hObjecthandletoedit4(seeGCBO)%eventdatareserved-tobedefinedinafutureversionofMATLAB%handlesstructurewithhandlesanduserdata(seeGUIDATA)%Hints:get(hObject,'String')returnscontentsofedit4astext% str2double(get(hObject,'String'))returnscontentsofedit4asdouble%---Executesduringobjectcreation,aftersettingallproperties.functionedit4_CreateFcn(hObject,eventdata,handles)%hObjecthandletoedit4(seeGCBO)%eventdatareserved-tobedefinedinafutureversionofMATLAB%handlesempty-handlesnotcreateduntilafterallCreateFcnscalled%Hint:editcontrolsusuallyhaveawhitebackgroundonWindows.% SeeISPCandCOMPUTER.if ispc && get(0,'defaultUicontrolBackgroundColor'))set(hObject,'BackgroundColor','white');endfunctionedit5_Callback(hObject,eventdata,handles)%hObjecthandletoedit5(seeGCBO)%eventdatareserved-tobedefinedinafutureversionofMATLAB%handlesstructurewithhandlesanduserdata(seeGUIDATA)%Hints:get(hObject,'String')returnscontentsofedit5astext% str2double(get(hObject,'String'))returnscontentsofedit5asdouble%---Executesduringobjectcreation,aftersettingallproperties.functionedit5_CreateFcn(hObject,eventdata,handles)%hObjecthandletoedit5(seeGCBO)%eventdatareserved-tobedefinedinafutureversionofMATLAB%handlesempty-handlesnotcreateduntilafterallCreateFcnscalled%Hint:editcontrolsusuallyhaveawhitebackgroundonWindows.% SeeISPCandCOMPUTER.if ispc && get(0,'defaultUicontrolBackgroundColor'))set(hObject,'BackgroundColor','white');endfunctionedit6_Callback(hObject,eventdata,handles)%hObjecthandletoedit6(seeGCBO)%eventdatareserved-tobedefinedinafutureversionofMATLAB%handlesstructurewithhandlesanduserdata(seeGUIDATA)%Hints:get(hObject,'String')returnscontentsofedit6astext% str2double(get(hObject,'String'))returnscontentsofedit6asadouble%---Executesduringobjectcreation,aftersettingallproperties.functionedit6_CreateFcn(hObject,eventdata,handles)%hObject handletoedit6(seeGCBO)%eventdata reserved-tobedefinedinafutureversionofMATLAB%handles empty-handlesnotcreateduntilafterallCreateFcnscalled%Hint:editcontrolsusuallyhaveawhitebackgroundonWindows.% SeeISPCandCOMPUTER.if ispc && get(0,'defaultUicontrolBackgroundColor'))set(hObject,'BackgroundColor','white');end%---Executesonbuttonpressincheckbox1.functioncheckbox1_Callback(hObject,eventdata,handles)globalcsifget(hObject,'Value')==get(hObject,'Max')cs=1;elseend

cs=0;functioncheckbox2_Callback(hObject,eventdata,handles)ifget(hObject,'Value')==get(hObject,'Max')axes(handles.axes1);gridon;end

axes(handles.axes1);gridoff;functionpushbutton1_Callback(hObjecteventdatahandles)%globalsPIDNtfcontent='';s=str2double(get(handles.edit1,'String'));ifisnan(s)content=strcat(content,'endP=str2double(get(handles.edit2,'String'));ifisnan(P)ifcontent~=''end

endcontent=strcat(content,'PI=str2double(get(handles.edit3,'String'));ifisnan(I)ifcontent~=''content=strcat(content,'、');end

endcontent=strcat(content,'I值');D=str2double(get(handles.edit4,'String'));ifisnan(D)ifcontent~=''content=strcat(content,'、');end

endcontent=strcat(content,'D值');tf=str2double(get(handles.edit5,'String'));ifisnan(tf)ifcontent~=''content=strcat(content,'、');end

endcontent=strcat(content,'采樣周期');N=str2double(get(handles.edit6,'String'));ifisnan(N)ifcontent~=''content=strcat(content,'、');end

endcontent=strcat(content,'橫軸點數(shù)');ifcontent~=''errordlg(strcat(content,'輸入錯誤'),'參數(shù)錯誤');end%---Executesonbuttonpressinpushbutton2.functionpushbutton2_Callback(hObject,eventdata,handles)%設(shè)置控件功能globalsPIDflagNtfcsif((((isnan(s)||isnan(P))||isnan(I))||isnan(D))||isnan(tf))||isnan(N)errordlg('請先讀入數(shù)據(jù)');elseifget(hObject,'String')==elseflag=0;set(hObject,'String','endai_device=analoginput('mwadlink',0);addchannel(ai_device,0);ao_device=analogoutput('mwadlink',0);addchannel(ao_device,0);i=1;d=0;whileflag==1axes(handles.axes1);t(i)=0;forj=1:20;t(i)=t(i)+getsample(ai_device); ende(i)=s-t(i);S(i)=s;d=d+e(i);ifI*d>200d=200/I;elseifI*d<-100d=-100/I;endifi>1 %PIDC(i)=P*e(i)+I*d+D*(e(i)-e(i-1));elseC(i)=P*e(i)+I*d;endC(i)=C(i)/20;%ifC(i)<0 %C(i)=0;elseifC(i)>5 C(i)=5;endputdata(ao_device,C(i));start(ao_device);holdon;cla;ifcs==1plot(C,'g')曲線endplot(S,'r'); %ifi<Naxis([0N-5110]);'elseaxis([i-N+1,i+1-5110]);endaxes(handles.axes3);cla;axis([0100100]);'line([0,10],[100,100])holdonbar([1],[s],'r');holdonbar([5],[t(i)],'b');holdonbar([9],[C(i)],'g');holdoffend

i=i+1;pause(tf);ifflag==0putdata(ao_device,0); start(ao_device);endendfunctionpushbutton3_Callback(hObject,eventdata,handles)[filename,pathname]=uiputfile({'*.bmp';'*.jpg';'*.png';'*.fig';'*.*'},'保存到','Untitled');axes(handles.axes1);%h=getframe(handles.axes1);saveas(gca,strcat(pathname,filename));%---Executesonmousepressoveraxesbackground.functionaxes1_ButtonDownFcn(hObject,eventdata,handles)%hObjecthandletoaxes1(seeGCBO)%eventdatarese